CN108957573A

CN108957573A - Danger source detection device and method

Info

Publication number: CN108957573A
Application number: CN201710356391.4A
Authority: CN
Inventors: 丁语欣
Original assignee: Individual
Current assignee: Beijing Yingte Weishi Technology Co ltd
Priority date: 2017-05-19
Filing date: 2017-05-19
Publication date: 2018-12-07
Anticipated expiration: 2037-05-19
Also published as: CN108957573B

Abstract

The present invention provides a kind of danger source detection device and method.The danger source detection device includes reflection focalizer, infrared sensor and processor, wherein the reflection focalizer is used to focus to the light reflection in preset range the sensing element of the infrared sensor；The light includes infrared light；The infrared sensor is for incuding the light that its sensing element receives, to obtain predetermined band infrared spectroscopy information；The processor is connect with the infrared sensor, for acquiring the predetermined band infrared spectroscopy information, the predetermined band infrared spectroscopy information is handled, and predetermined band infrared spectroscopy information judges in the preset range with the presence or absence of danger source according to treated.The present invention can detect the danger source in zone of protection or space at a distance, on a large scale, and obtain the coordinate position of danger source, to realize remote, a wide range of, pole early stage, highly sensitive and reliable danger source detection alarm.

Description

Danger source detection device and method

Technical Field

The invention relates to the technical field of dangerous source detection, in particular to a dangerous source detection device and method.

Background

At present, the risk of occurrence of a great danger source exists in large industrial places, natural areas (forests, grasslands, coal mines and the like) or large commercial buildings, and the problems of group death and group injury in the production process, natural resources and the large commercial buildings are caused. Hazardous gases or liquids are produced in large industrial sites due to leaks in the production process or explosive combustion is produced, which is a typical source of danger. The natural area is most typically an abnormal fire, such as a forest fire or a coal mine spontaneous combustion fire, which is a typical source of danger. In large commercial buildings, the most typical characteristic is the dense personnel, so that hazardous gas or fire caused by human or non-human reasons is a typical hazard source, and if early warning and detection cannot be carried out, the hazard is large.

The traditional danger source early warning detection methods are not few, but one common characteristic is that the coverage area of the detection systems is small, and the detection systems cannot protect a large area. In order to realize the large-range early warning detection, people have recently started to adopt a thermal imager for regional protection and fire detection, for example, as described in chinese patent CN104269013A, however, since the thermal imager mainly realizes scene temperature measurement monitoring in a protected region, and there may be more heat sources in the protected region, for example, solar power generation, etc., the problem of the detector of this kind is that the false alarm rate is too high, and in addition, the detection distance is limited, which is also a big problem. People use a satellite remote sensing or unmanned aerial vehicle monitoring platform to carry out natural area fire detection or earth surface gas detection, Chinese patent CN104157088A 'a method for monitoring forest fire by using satellite remote sensing' provides a method for monitoring forest fire by using a remote sensing technology, and Chinese patent CN102074093A 'a coal mine fire monitoring method based on satellite remote sensing' provides a method for detecting coal mine fire by using satellite visible light, thermal infrared and microwave images. Chinese patent CN102819926A, "a fire monitoring and early warning method based on unmanned aerial vehicle", proposes a system and method for receiving visible/spectral image signals of unmanned aerial vehicle and analyzing and identifying based on ground station. These patented processes all have the following problems: 1. the sensitivity of satellite remote sensing detection is not enough, so that a dangerous source is often required to generate large-area leakage or combustion, and for the remote sensing satellites of the same type in the United states, a forest fire area as large as a football field is required to trigger alarm; 2. these systems cannot monitor in real time, and because most satellites are not fixed-point and the aircraft is flying periodically, the system needs a long time to detect repeatedly in the area, so the real-time performance is poor, and for many dangerous sources, early detection and early processing must be performed.

Disclosure of Invention

The invention mainly aims to provide a dangerous source detection device and a dangerous source detection method, which can remotely and widely detect dangerous sources in a protective area or space and acquire the coordinate positions of the dangerous sources, thereby realizing remote, wide-range, very early, high-sensitivity and reliable dangerous source detection and alarm.

In order to achieve the above object, the present invention provides a hazard detection apparatus comprising a reflective focuser, an infrared sensor and a processor, wherein,

the reflection focalizer is used for reflecting and focusing light rays in a preset range to a sensing element of the infrared sensor; the light comprises infrared light;

the infrared sensor is used for sensing light rays received by the sensing element of the infrared sensor so as to acquire infrared spectrum information of a preset waveband;

the processor is connected with the infrared sensor and used for collecting the infrared spectrum information of the preset waveband, processing the infrared spectrum information of the preset waveband and judging whether a hazard source exists in the preset range according to the processed infrared spectrum information of the preset waveband.

In practice, the hazard detection apparatus further comprises:

the camera shooting unit is used for shooting a preset range and acquiring visible image information and infrared image information of the preset range;

the processor is further connected with the camera shooting unit and is further used for collecting visible image information and the infrared image information, and when it is judged that a dangerous source exists in the preset range according to the processed infrared spectrum information of the preset waveband, real-time image information of the position of the dangerous source is obtained according to the visible image information and the infrared image information.

In implementation, the hazard source detection device further comprises a controller; the infrared sensor is a refrigeration type infrared sensor;

the reflective focalizer comprises a reflecting unit and a focusing unit; the reflection unit is used for reflecting the light of each scene point in a preset range to the focusing unit; the focusing unit is used for focusing the light to a sensing element of the infrared sensor;

the reflection unit comprises an infrared reflection plate, a horizontal rotation mechanism and a vertical rotation mechanism;

the infrared reflecting plate is respectively connected with the horizontal rotating mechanism and the vertical rotating mechanism;

the controller is respectively connected with the horizontal rotating mechanism and the vertical rotating mechanism;

the controller is used for sending a first horizontal rotation control signal to the horizontal rotation mechanism and sending a first vertical rotation control signal to the vertical rotation mechanism;

the horizontal rotating mechanism is used for driving the infrared reflecting plate to horizontally rotate at a preset horizontal rotating speed according to the first horizontal rotating control signal, and the vertical rotating mechanism is used for driving the infrared reflecting plate to vertically rotate at a preset vertical speed according to the first vertical rotating control signal.

When the device is implemented, the camera shooting unit comprises a visible light camera and an infrared camera;

the hazard source detection device also comprises a camera rotating mechanism;

the controller is also connected with the camera rotating mechanism and is also used for sending a second horizontal rotation control signal and a second vertical rotation control signal to the camera rotating mechanism;

the camera rotating mechanism is also respectively connected with the visible light camera and the infrared camera and used for driving the visible light camera and the infrared camera to horizontally rotate according to the second horizontal rotation control signal and driving the visible light camera and the infrared camera to vertically rotate according to the second vertical rotation control signal.

In practice, the reflective focalizer comprises a reflecting unit and a focusing unit;

the reflecting unit is used for reflecting light rays in a preset range to the focusing unit;

the focusing unit is used for focusing the light to a sensing element of the infrared sensor;

the reflection unit comprises an optical reflection frame, a horizontal rotation mechanism, an infrared plane reflection plate, a vertical rotation mechanism, a first position sensor and a second position sensor;

the vertical rotating mechanism comprises a vertical rotating motor, an inner frame and a vertical rotating shaft; the horizontal rotating mechanism comprises a horizontal rotating motor and a connecting assembly;

the vertical rotating shaft is arranged on the optical reflection frame, the infrared plane reflection plate is embedded into the inner frame, and the vertical rotating shaft is fixedly connected with the inner frame;

the vertical rotating motor is used for driving the vertical rotating shaft to rotate so as to drive the inner frame to rotate, so that the infrared plane reflecting plate is driven to rotate;

the horizontal rotating motor is connected with the optical reflection frame through the connecting component and is used for driving the optical reflection frame to horizontally rotate so as to drive the infrared plane reflection plate to horizontally rotate;

the infrared plane reflecting plate is used for reflecting visible light rays and infrared light rays to the focusing unit;

the first position sensor is arranged on a rotating shaft of the vertical rotating motor and used for sensing the vertical rotating angle of the vertical rotating motor;

the second position sensor is arranged on a rotating shaft of the horizontal rotating motor and used for sensing the horizontal rotating angle of the horizontal rotating motor.

When the device is implemented, the camera shooting unit comprises a visible light camera and an infrared camera; the visible light camera and the infrared camera are respectively and fixedly connected to the upper side edge of the optical reflection frame;

when the horizontal rotating motor is used for driving the optical reflection frame to rotate horizontally, the horizontal rotating motor is also used for driving the visible light camera and the infrared camera to rotate horizontally.

In practice, the reflective focuser further comprises an optical pod body in which the focusing unit is disposed;

the focusing unit comprises a first concave mirror arranged in the optical pod body, and the infrared plane reflecting plate is used for reflecting visible light rays and infrared light rays to the first concave mirror; the first concave mirror is used for focusing the visible light and the infrared light reflected by the infrared plane reflecting plate to a sensing element of the infrared sensor; or,

the focusing unit comprises a second concave mirror and a convex mirror which are arranged in the optical pod body; the infrared plane reflecting plate is used for reflecting visible light rays and infrared light rays to the second concave mirror; the second concave mirror is used for reflecting the visible light and the infrared light to the convex mirror; the convex mirror is used for focusing the visible light and the infrared light to the sensing element of the infrared sensor.

In practice, the reflective focuser further comprises a horizontal lens;

the horizontal lens is fixedly connected with the optical reflection frame; the horizontal rotating mechanism is connected with the optical reflection frame through the horizontal lens, and drives the optical reflection frame to horizontally rotate by driving the horizontal lens to horizontally rotate;

the horizontal lens is disposed over an opening of the optical pod body.

In practice, the hazard source detection apparatus further comprises a controller;

the infrared sensor is a refrigeration type infrared sensor;

the infrared sensor comprises at least two sensing elements, and each sensing element corresponds to a corresponding central wave band; or;

the infrared sensor comprises a sensing element, at least two optical filters and an optical filter switching mechanism; each filter corresponds to a corresponding central waveband; the optical filter switching mechanism bears the at least two optical filters;

the controller is used for sending a switching control signal to the optical filter switching structure;

the optical filter switching structure is connected with the controller and used for controlling the optical filter switching structure to control the corresponding optical filter to be arranged above the sensing element according to the switching control signal from the controller.

In practice, the processor includes:

the signal amplification circuit is connected with the infrared sensor and is used for amplifying the infrared spectrum information of the preset waveband, which is obtained by the infrared sensor through induction;

the signal sampling circuit is connected with the signal amplifying circuit and is used for collecting the amplified predetermined waveband infrared spectrum information output by the signal amplifying circuit; and the number of the first and second groups,

the core processing circuit is respectively connected with the signal sampling circuit and the camera shooting unit and is used for judging whether a dangerous source exists in the preset range according to the amplified infrared spectrum information of the preset waveband from the signal sampling circuit and acquiring real-time image information of a dangerous source position according to the visible image information and the infrared image information from the camera shooting unit when the dangerous source exists;

the hazard source detection apparatus further comprises a controller;

the controller is respectively connected with the first position sensor, the second position sensor, the vertical rotating motor and the horizontal rotating motor, and is used for calculating the vertical rotating speed of the vertical rotating motor and the horizontal rotating speed of the horizontal rotating motor according to the vertical rotating angle from the first position sensor and the horizontal rotating angle from the second position sensor, controlling the vertical rotating motor to rotate at a preset vertical rotating speed, and controlling the horizontal rotating motor to rotate at a preset horizontal rotating speed.

The invention also provides a hazard source detection method, which is applied to the hazard source detection device and comprises the following steps:

the reflection focalizer reflects and focuses light rays in a preset range to a sensing element of the infrared sensor; the light comprises infrared light; the infrared sensor senses the light received by the sensing element to acquire the infrared spectrum information of the preset wave band and converts the infrared spectrum information of the preset wave band;

the shooting unit shoots a preset range to acquire visible image information and infrared image information in the preset range;

the processor collects the infrared spectrum information of the preset waveband, processes the infrared spectrum information of the preset waveband and judges whether a hazard source exists in the preset range according to the processed infrared spectrum information of the preset waveband; the processor collects the visible image information and the infrared image information, and when the processor judges that a dangerous source exists in the preset range according to the processed infrared spectrum information of the preset waveband, the processor obtains real-time image information of a dangerous source position according to the visible image information and the infrared image information.

In practice, the predetermined bands include a characteristic band and a reference band;

the infrared sensor senses light received by the sensing element to acquire infrared spectrum information of a preset waveband, and the method comprises the following steps: the infrared sensor senses the light received by the sensing element of the infrared sensor to obtain a characteristic waveband infrared spectrum response value Vf and a reference waveband infrared spectrum response value Vr;

the processor collects the infrared spectrum information of the preset waveband, processes the infrared spectrum information of the preset waveband, and judges whether a hazard source exists in the preset range according to the processed infrared spectrum information of the preset waveband, and the steps comprise:

the processor collects characteristic waveband infrared spectrum response values Vf and reference waveband infrared spectrum response values Vr from the infrared sensor at intervals of preset sampling time;

the processor judges whether Vf/Vr is larger than or equal to a preset ratio threshold value or not, and sends out a fire alarm signal when Vf/Vr is larger than or equal to the preset ratio threshold value;

when the processor continuously sends out fire alarm signals within preset judging time, the processor judges that a fire hazard source exists; the predetermined decision time is greater than or equal to the predetermined sampling time.

the infrared sensor senses light received by the sensing element to acquire infrared spectrum information of a preset waveband, and the method comprises the following steps: the infrared sensor senses the light received by the sensing element to obtain the infrared spectrum intensity of the characteristic waveband and the infrared spectrum response intensity of the reference waveband;

the processor collects the characteristic waveband infrared spectrum response intensity and the reference waveband infrared spectrum response intensity from the infrared sensor at intervals of preset sampling time;

the processor calculates the product of the concentration of the dangerous gas and the thickness of the dangerous source gas appearing on the dangerous source light path according to the characteristic waveband infrared spectrum response intensity and the reference waveband infrared spectrum response intensity;

the processor determines whether the product is greater than a predetermined product threshold and determines that a gas hazard exists within a predetermined range when the product is greater than the predetermined product threshold.

When the dangerous source detection device is implemented, when the dangerous source detection device further comprises a controller, the reflection focalizer comprises a reflection unit and a focusing unit, the reflection unit comprises an infrared reflection plate, a horizontal rotation mechanism and a vertical rotation mechanism, the infrared reflection plate is respectively connected with the horizontal rotation mechanism and the vertical rotation mechanism, when the controller is respectively connected with the horizontal rotation mechanism and the vertical rotation mechanism,

the step of reflecting and focusing the light rays in the preset range to the sensing element of the infrared sensor by the reflection focalizer specifically comprises the following steps: the reflection unit reflects the light of each scene point in a preset range to the focusing unit, and the focusing unit focuses the light to the sensing element of the infrared sensor;

the hazard source detection method further includes:

the controller sends a first horizontal rotation control signal to the horizontal rotation mechanism, and the horizontal rotation mechanism drives the infrared reflection plate to horizontally rotate at a preset horizontal rotation speed according to the first horizontal rotation control signal;

the controller sends a first vertical rotation control signal to the vertical rotation mechanism, and the vertical rotation mechanism drives the infrared reflection plate to vertically rotate at a preset vertical speed according to the first vertical rotation control signal.

In practice, when the camera unit includes a visible light camera and an infrared camera, and the hazard detection apparatus further includes a camera rotating mechanism, the hazard detection method further includes:

the controller sends a second horizontal rotation control signal and a second vertical rotation control signal to the camera rotating mechanism;

the camera rotating mechanism drives the visible light camera and the infrared camera to rotate horizontally according to the second horizontal rotation control signal, and the camera rotating mechanism drives the visible light camera and the infrared camera to rotate vertically according to the second vertical rotation control signal.

Compared with the prior art, the hazard source detection device and method provided by the embodiment of the invention have the following beneficial effects:

the system can monitor in real time aiming at a long-distance and large-range protection area or space, and because multiband infrared signals such as characteristic wavelength, reference wavelength and the like of a hazard source are adopted for comparative analysis, the reliability is high and the false alarm rate is low;

the system can realize early and highly sensitive detection of dangerous sources;

the system is applied to greatly reduce the damage of dangerous sources to forests, industrial production areas and large buildings and avoid natural resource loss, casualties and property loss.

Drawings

Fig. 1 is a block diagram of a hazard source detection apparatus according to an embodiment of the present invention;

FIG. 2 is a block diagram of one embodiment of a hazard detection apparatus according to the present invention;

FIG. 3 is a schematic diagram of the electrical connection of the hazard detection apparatus according to the embodiment of the present invention;

FIG. 4 is a schematic diagram of motor control and feedback according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of an embodiment of a focusing unit in the hazard detection apparatus according to the present invention;

FIG. 6 is a schematic structural diagram of another embodiment of a focusing unit in the hazard detection apparatus according to the present invention;

fig. 7A is a structural diagram of a hazard source detecting apparatus according to an embodiment of the present invention, in which an infrared sensor is a binary infrared sensor;

fig. 7B is a structural diagram of a hazard source detecting apparatus according to an embodiment of the present invention, in which an infrared sensor is a ternary infrared sensor;

FIG. 8 is a flowchart illustrating operation of a hazard detection apparatus according to an embodiment of the present invention using a unit infrared sensor;

fig. 9 is a flowchart illustrating the operation of the hazard detection apparatus according to the embodiment of the present invention when a multi-element infrared sensor is used.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, the hazard detection apparatus according to the embodiment of the present invention includes a reflective focalizer 11, an infrared sensor 12, and a processor 13, wherein,

the reflective focalizer 11 is used for reflecting and focusing light rays within a predetermined range to a sensing element (not shown in fig. 1) of the infrared sensor 12; the light comprises infrared light;

the infrared sensor 12 is used for sensing light received by a sensing element thereof to acquire infrared spectrum information of a predetermined waveband;

the processor 13 is connected to the infrared sensor 12, and is configured to collect the infrared spectrum information of the predetermined waveband, process the infrared spectrum information of the predetermined waveband, and determine whether a hazard source exists in the predetermined range according to the processed infrared spectrum information of the predetermined waveband.

According to the hazard source detection device provided by the embodiment of the invention, light rays in a preset range are focused to the sensing element of the infrared sensor 12 through the reflection focalizer 11, the infrared sensor 12 senses the light rays received by the sensing element to acquire infrared spectrum information of a preset waveband, the infrared spectrum information of the preset waveband is acquired through the processor 14, and the infrared spectrum information of the preset waveband is processed, so that whether a hazard source exists in the preset range can be detected in real time and sensitively.

In actual operation, the predetermined bands include a characteristic band and a reference band.

Preferably, the hazard source detection apparatus according to an embodiment of the present invention further includes:

the camera shooting unit is connected with the processor and is used for shooting a preset range and acquiring visible image information and infrared image information of the preset range;

the processor is further used for acquiring the visible image information and the infrared image information, and acquiring real-time image information of the position of a dangerous source according to the visible image information and the infrared image information when the dangerous source exists in the preset range according to the processed infrared spectrum information of the preset waveband.

In practical operation, the hazard source detection device according to the embodiment of the present invention obtains visible image information and infrared image information within a predetermined range through the camera unit, and when the processor determines that a hazard source exists within the predetermined range according to the processed infrared spectrum information of the predetermined waveband, the processor obtains real-time image information of a hazard source position according to the visible image information and the infrared image information.

Preferably, the hazard source detecting apparatus according to the embodiment of the present invention further includes a controller; the infrared sensor is preferably a refrigeration type infrared sensor;

In the preferred embodiment, the reflective focuser is a two degree of freedom rotary reflective focuser.

In a preferred embodiment, the controller sends a first horizontal rotation control signal to the horizontal rotation mechanism, and the horizontal rotation mechanism drives the infrared reflecting plate to rotate horizontally at a constant speed according to the first horizontal rotation control signal, so that the infrared reflecting plate can be driven to rotate horizontally by 0-360 degrees, and the infrared reflecting plate can reflect light of each scene point within a range of 0-360 degrees horizontally to the focusing unit;

in a preferred embodiment, the controller sends a first vertical rotation control signal to the vertical rotation mechanism, and the vertical rotation mechanism drives the infrared reflection plate to vertically rotate at a predetermined vertical speed according to the first vertical rotation control signal, so that the infrared reflection plate can be driven to vertically rotate by 0-360 degrees, and the infrared reflection plate can reflect the light of each scene point in a vertical effective angle range to the focusing unit.

In actual operation, the camera unit may include a visible light camera and an infrared camera;

the hazard source detection device also comprises a camera rotating mechanism;

the camera rotating mechanism is respectively connected with the visible light camera and the infrared camera and used for driving the visible light camera and the infrared camera to rotate horizontally according to the second horizontal rotation control signal and driving the visible light camera and the infrared camera to rotate vertically according to the second vertical rotation control signal.

In practical implementation, the optical axes of the visible light camera and the infrared camera can be approximately considered to be in the vertical rotating optical axis plane of the infrared reflection plate, so that the effective target points in the scene can always be ensured to be in the rotating optical axis plane, namely, the camera and the infrared reflection plate can always be consistent in the horizontal direction, and the effective target points can not be ensured to be exactly in the visual field of the camera or the position close to the center of the visual field if the positions of the effective target points in the vertical direction are different, so that the controller can control the vertical rotating mechanism of the camera to rotate in the vertical direction to enable the target points to be adjusted to be close to the center of the visual field.

Specifically, the reflective focalizer may include a reflecting unit and a focusing unit;

the reflection unit may include an optical reflection frame, a horizontal rotation mechanism, an infrared plane reflection plate, a vertical rotation mechanism, a first position sensor, and a second position sensor;

the vertical rotating shaft is mounted on the optical reflection frame, the infrared plane reflection plate is embedded in the inner frame, and the vertical rotating shaft and the inner frame are fixedly connected with the vertical rotating motor and are used for driving the vertical rotating shaft to rotate so as to drive the inner frame to rotate, so that the infrared plane reflection plate is driven to rotate;

In actual operation, the inner frame has the same shape as the infrared plane reflection plate, and the infrared plane reflection plate is embedded in the inner frame so that the infrared plane reflection plate can rotate as the inner frame rotates.

In actual operation, the infrared plane reflecting plate can be rectangular, the vertical rotating shaft is horizontally arranged, the upper side edge of the infrared plane reflecting plate is parallel to the lower side edge of the infrared plane reflecting plate, and the upper side edge is parallel to the vertical rotating shaft;

in actual operation, the vertical rotating motor can control and drive the infrared plane reflecting plate to continuously rotate in the vertical direction by 360 degrees, the horizontal rotating motor can drive the optical reflecting frame to horizontally rotate so as to drive the infrared plane reflecting plate to continuously rotate in the horizontal direction by 360 degrees, and each 180-degree positive and negative scanning period or 360-degree single-side scanning period completes point-by-point scanning of 360-degree coverage scenes.

Specifically, the camera unit comprises a visible light camera and an infrared camera; the visible light camera and the infrared camera are respectively and fixedly connected to the upper side edge of the optical reflection frame;

Specifically, the reflective focalizer may further include an optical pod body in which the focusing unit is disposed;

In particular, the reflective focuser may further comprise a horizontal lens;

the horizontal lens is fixedly connected with the optical reflection frame; the horizontal rotating mechanism is connected with the optical reflection frame through the horizontal lens, and drives the optical reflection frame to horizontally and synchronously rotate by driving the horizontal lens to horizontally rotate;

the horizontal lens is arranged above the opening of the optical pod body, and water or foreign matters are prevented from entering the optical pod body through required spectral light.

Preferably, the hazard source detecting apparatus further comprises a controller; the infrared sensor can be a refrigeration type infrared sensor;

the infrared sensor comprises a sensing element, at least two optical filters and an optical filter switching mechanism; each filter corresponds to a corresponding central waveband; the optical filter switching mechanism bears the at least two optical filters; the controller is used for sending a switching control signal to the optical filter switching structure; the optical filter switching structure is connected with the controller and used for controlling the optical filter switching structure to control the corresponding optical filter to be arranged above the sensing element according to the switching control signal from the controller.

Specifically, the processor may include:

the hazard source detection apparatus further comprises a controller;

The hazard detection apparatus of the present invention is described below with reference to an embodiment.

FIG. 2 is a block diagram of an embodiment of a hazard detection apparatus according to the present invention.

The reflection focalizer comprises a reflection unit and a focusing unit;

the reflection unit includes an optical reflection frame 202, a vertical rotation mechanism, an infrared plane reflection plate 204, a horizontal rotation mechanism, a first position sensor (not shown in fig. 2), and a second position sensor (not shown in fig. 2);

the horizontal rotating mechanism comprises a horizontal rotating motor 208 and a horizontal rotating gear set 207 (the horizontal rotating gear set 207 is a specific embodiment of the connecting assembly);

the vertical rotation mechanism includes a vertical rotation motor 203, an inner frame (not shown in fig. 2), and a vertical rotation shaft 200;

the vertical hinge 200 is mounted on the optical reflection frame 202, the infrared plane reflection plate 204 is embedded in the inner frame (not shown in fig. 2), and the infrared plane reflection plate 204 is fixedly connected with the inner frame (not shown in fig. 2);

the vertical rotating motor 203 is used for driving the vertical rotating shaft 200 to rotate so as to drive the inner frame (not shown in fig. 2) to rotate, so as to drive the infrared plane reflecting plate 204 to rotate;

the horizontal rotation motor 208 is connected to the optical reflection frame 202 through the horizontal rotation gear set 207, and is configured to drive the optical reflection frame 202 to rotate horizontally, so as to drive the infrared plane reflection plate 204 to rotate horizontally;

the infrared plane reflection plate 204 is used for reflecting visible light rays and infrared light rays to the optical pod main body 220;

the first position sensor (not shown in fig. 2) is disposed on a rotation shaft of the vertical rotation motor 203, and is configured to sense a vertical rotation angle of the vertical rotation motor 203;

the second position sensor (not shown in fig. 2) is disposed on the rotating shaft of the horizontal rotation motor 208, and is used for sensing the horizontal rotation angle of the horizontal rotation motor 208.

The camera unit comprises a visible light camera 201 and an infrared camera 223; the visible light camera 201 and the infrared camera 223 are respectively fixedly connected to the upper side of the optical reflection frame 202;

the focusing unit includes a second concave mirror 216 and a convex mirror 219 provided in the optical pod body 220; the infrared plane reflecting plate 204 is specifically configured to reflect visible light and infrared light to the second concave mirror 216; the second concave mirror 216 is used for reflecting the visible light and the infrared light to the convex mirror 219; the convex mirror 219 is used for focusing the visible light and the infrared light to the sensing element of the infrared sensor 215;

the reflective focuser further comprises a horizontal lens 205;

the horizontal lens 205 is fixedly connected with the optical reflection frame 202; the horizontal rotation gear set 207 included in the horizontal rotation mechanism is connected with the optical reflection frame 202 through the horizontal lens 205, and the horizontal rotation mechanism drives the optical reflection frame 202 to horizontally rotate by driving the horizontal lens 205 to horizontally rotate;

the horizontal lens 205 is disposed above the opening of the optical pod body 220.

In the embodiment shown in fig. 2, the plane of the infrared plane reflection plate 204 is square, and the inner frame is also square in shape, and the size of the inner frame corresponds to the size of the infrared plane reflection plate 204, so that the infrared plane reflection plate 204 can be embedded in the inner frame to be fixed to each other.

In fig. 2, reference numeral 209 is a high-speed signal sampling and system control circuit, reference numeral 212 is a preamplifier, reference numeral 210 is a cooling fan, reference numeral 215 is an infrared sensor, reference numeral 211 is a filter switching mechanism, reference numeral 221 is a vertical bearing, reference numeral 222 is a horizontal lens wiper mechanism, reference numeral 206 is a control signal transmission electrical slip ring, reference numeral 217 is a core processor, reference numeral 218 is a drive plate, reference numeral 213 is a power supply, reference numeral 214 is a detection device main body frame, and reference numeral 224 is a sun shade.

When the embodiment of the hazard source detection apparatus shown in fig. 2 of the present invention is in operation, the whole optical reflection frame 202 is driven by the horizontal rotation mechanism to rotate horizontally at a constant speed, the optical reflection frame 202 is mounted with the infrared plane reflection plate 204, and the infrared plane reflection plate 204 is driven by the vertical rotation motor 203 to rotate vertically at a constant speed. In addition, a horizontal lens wiper mechanism 222 is installed on the optical reflection frame 202, and the horizontal lens 205 is cleaned periodically. The horizontal rotation motor 208 rotates at a constant speed by using a speed reduction motor, the horizontal rotation gear set 207 drives the optical reflection frame 202 to rotate integrally, and the vertical bearing 221 bears the vertical and horizontal stresses of the optical reflection frame 202.

In the specific embodiment shown in fig. 2, the focusing unit comprises a second concave mirror 216 and a convex mirror 219 provided in the optical pod body 220; the infrared plane reflection plate is used for reflecting visible light rays and infrared light rays to the second concave mirror 216; the second concave mirror 216 is used for reflecting the visible light and the infrared light to the convex mirror 219; the convex mirror 219 is used to focus the visible light and the infrared light to the sensing elements of the infrared sensor 215.

Power supply 213 is a dedicated high performance power supply.

In actual practice, in the particular embodiment shown in FIG. 2, the high speed signal sampling and system control circuit 209 comprises a signal sampling circuit and a system control circuit;

the processor includes: the pre-amplifier circuit 212 (which is an embodiment of the signal amplifier circuit), the signal sampling circuit included in the high-speed signal sampling and system control circuit 209, and the core processing circuit 217;

the controller includes: a drive board 218 (the drive board 218 is used for driving and controlling the vertical rotation motor 203, the horizontal rotation motor 208 and the optical filter switching mechanism 211), and a system control circuit included in the high-speed signal sampling and system control circuit 209.

In the specific embodiment shown in fig. 2, the camera unit includes an infrared/visible double-view camera, the infrared/visible double-view camera is mainly composed of a visible light camera 201 and an infrared camera 223, a video signal is accessed to the core processing circuit 217 for signal fusion and integration, and the position coordinates and points of the spectrum remote sensing alarm are marked on a real-time video map.

As shown in fig. 3, the reflective focuser 301 focuses and projects the radiation spectrum information of each point in the protected area scene onto the infrared sensor 309 by horizontal and vertical rotation and reflection and optical focusing.

As shown in fig. 3, the processor includes a pre-amplifier circuit 308 (the pre-amplifier circuit is a specific embodiment of the signal amplifier circuit included in the processor), a motor drive control circuit 303 (in the embodiment shown in fig. 3, the control circuit included in the processor includes the motor drive control circuit 303), a high-speed signal acquisition and system control circuit 307 (in the embodiment shown in fig. 3, the control circuit included in the processor further includes the system control circuit in the high-speed signal acquisition and system control circuit 307), and a core processing circuit 306 (in the embodiment shown in fig. 3, the processing circuit included in the processor includes the high-speed signal sampling and system control circuit 307 and the core processing circuit 306).

In FIG. 3, reference numeral 302 is a control motor and position sensor;

the preamplification circuit 308 mainly realizes the weak signal amplification function output by the infrared sensor, and transmits the amplified analog signal to the high-speed signal acquisition and system control circuit 307 for high-speed sampling, i.e. for the multi-element sensor, multi-channel signal high-speed sampling is adopted.

The control motor and position sensor 302 mainly realizes motor rotation and position feedback, and except for driving the control motor (the control motor can be a control motor such as a horizontal motor, a vertical motor, a camera angle motor, an optical filter, a windshield wiper and the like) to rotate through the motor driving control circuit 303, the rotating position information is fed back through installing an angle photoelectric coding disc and a position switch on a motor rotating shaft. The motor drive control circuit 303 mainly realizes drive control of the motor, and controls the rotation speed of the motor by PWM (Pulse Width Modulation) to realize matching of horizontal and vertical rotation.

The high-speed signal acquisition and system control circuit 307 performs signal extraction of the high-speed sampling acquisition unit or the multi-element infrared sensor at a microsecond-level speed, and the core processing circuit 306 performs signal analysis, calculation, data fusion and decision judgment, and finally performs input and output of an alarm signal or a measured value.

The infrared/visible double-view camera comprises a visible light camera 310, a visible light camera lens 313, an infrared camera 311 and an infrared camera optical lens 312, and video signals of the visible light camera 310 and the infrared camera 311 are input into the core processing circuit 306 to be subjected to necessary analysis, data fusion and secondary coding output. The core processing circuit 306 sends the video signal, the infrared spectrum analysis signal and the alarm signal to a system (not shown in fig. 3) of the control center through the input/output interface 305 together through a wireless or wired network. The internal power supply circuit 304 mainly realizes the output function of a high-precision low-text-wave power supply, and provides a stable and reliable power supply for motors, circuits, cameras and the like.

Fig. 4 is a schematic diagram of motor control and feedback according to an embodiment of the present invention. The high-speed signal acquisition and system control circuit 401 sends a starting command and a rotating speed command to a horizontal rotation control circuit 409 and a vertical rotation control circuit 402 which are included in a motor driving control circuit, a horizontal motor driver 408 and a vertical motor driver 403 immediately output driving signals to drive a vertical rotation motor 405 and a horizontal rotation motor 407 to rotate, and position feedback is mainly carried out through a vertical motor photoelectric encoding disk 4041, a vertical motor position switch 4042, a horizontal motor photoelectric encoding disk 4061 and a horizontal motor position switch 4062. The high-speed signal acquisition and system control circuit 401 acquires the scanning data of the effective segment according to the position feedback information.

The detection flow of the core processing unit is as follows: firstly, electrifying the system after self-inspection, namely controlling the horizontal and vertical rotating mechanisms to rotate; secondly, the high-speed sampling and control circuit acquires the spectrum data of all the sensors with different wave bands, wherein the spectrum data comprises the spectrum data of a reference wave band and a synthesized wave band; thirdly, storing the spectrum data of each frame of different periodic sequences; fourthly, calculating the obtained spectrum data of each period sequence, extracting difference points and difference values, and analyzing the concentration of the detection target or the related risk source index data according to the data; fifthly, fusing the calculated data to a video image through coordinate mapping to form a composite image; sixthly, the system stores various data and performs signal transmission through a network; and sixthly, making alarm decision according to the calculated data and the set alarm threshold value.

Fig. 5 is a schematic structural diagram of a focusing unit in the hazard detection apparatus according to an embodiment of the present invention. As shown in fig. 5, the infrared plane reflecting plate 501 rotates rapidly in the vertical direction, a scene in a protected area is reflected into the optical nacelle through the plane infrared lens window 502, the reflected parallel light passes through the plane infrared lens window 502 and is projected onto the first concave mirror 504, and the first concave mirror 504 focuses light onto the sensing surface of the infrared sensor 503.

Fig. 6 is a schematic structural diagram of another embodiment of a focusing unit in the hazard detection apparatus according to the present invention. The infrared plane reflecting plate 601 rotates rapidly in the vertical direction, a scene of a protective area is reflected into the optical hanging cabin through the plane infrared lens window 602, the reflected parallel light penetrates through the plane infrared lens window 602 and then is projected onto the second concave mirror 604, the second concave mirror 604 reflects the light to the convex mirror 603, and the convex mirror 603 focuses the light on the sensing surface of the infrared sensor 605. Unlike the embodiment of the focusing unit shown in fig. 5, the embodiment of the focusing unit in fig. 6 has a larger focal length and can cover a larger range.

As shown in fig. 7A, the refrigeration-type infrared sensor may be a binary infrared sensor; as shown in fig. 7A, reference numeral 701 is a sensor body, reference numeral 702 is a sensor window, reference numeral 703 is a first sensor element, and reference numeral 704 is a second sensor element; the first sensor element 703 and the second sensor element 704 have different central wavelength band response performance, and the central wavelength of the sensor elements is selected according to the type of the dangerous source to be detected.

As shown in fig. 7B, the refrigerated infrared sensor may be a ternary sensing assembly, and a third ternary sensor 705 is added to the sensor cell chamber, with the center wavelength of the response also selected as desired. Certainly, the infrared sensor can also only adopt a unit sensor, the response range of the sensing element can be wider, for example, 3-5 um, and the filter is switched by controlling the filter switching mechanism at the moment so that the sensing element responds to different hazard sources.

For fire combustion or hot flue gas, 4.3-4.4 um (micrometer) and 2.8um are typical response center wavelengths of fire combustion, and 3.8um and 5.0um are reference center wavelengths with low fire combustion response and small sunlight influence. In view of this, for reliable detection, if the two-element sensor assembly of fig. 7A is used, the fire response center wavelength of 4.3um may be used as the center wavelength of one-element sensor element, and the fire response center wavelength of 3.8um may be used as the reference band, i.e., the center wavelength of the other one-element sensor element. When the ternary sensing component shown in fig. 7B is used, in addition to the above selections, the central wavelength of the third sensing element can be a fire response characteristic wavelength of 2.8um or a reference wavelength of 5.0um, so that the system can determine whether a fire is present according to the spectral response of each point in the scene. The application of the technology overcomes the problem of high false alarm rate of the traditional thermal imager detection system, and also overcomes the problems of a satellite remote sensing system due to high sensitivity and real-time monitoring.

In actual operation, the characteristic response band of the alkane gas is 3.3-3.4 um, and at the moment, 3.05um can be used as a reference band. The characteristic response band of the benzene gas is 3.2-3.57 um, and a reference band of 3.05um can be adopted. In view of this, in the detection of the gas hazard source, a single-element sensor element may use a narrow-band or band-pass filter, and another single-element sensor element uses a reference band of 3.05 um.

The 360 ° scene scan of the system is the result of the coordination of the horizontal and vertical rotations. Only a few angles are valid in the vertical direction telemetric scan, for example 15 ° from the upward elevation angle and 60 ° from the downward depression angle, and the effective angles of the front and back surfaces of the mirror are 37.5 ° according to the reflection principle, i.e. the system only performs effective data sampling for the 37.5 ° range which is symmetrical to each other. Because the front and the back can be scanned once by rotating the vertical reflecting mirror for one circle, only 180 degrees of rotation is needed for one 360-degree scanning, and the calculation method of the horizontal and vertical transmission speeds is as follows:

assuming that 3600 lines (or columns) are vertically scanned within a 180-degree scanning range in one 360-degree scanning period of 200s, 3600 rotations of the vertical rotating motor within the 180-degree scanning range are minimum, so that the rotating speed r of the vertical rotating motor can be calculated_{Is perpendicular to}Comprises the following steps:

r_{is perpendicular to}3600 revolutions/200 seconds 18 revolutions/seconds 1080 revolutions/minute;

rotation of horizontal rotation motorVelocity r of_{Level of}Comprises the following steps:

r_{level of}180 °/200s 0.9 °/s 0.15 rpm;

assuming a horizontal gear ratio of 25: 1, the output rotating speed of the speed reducing motor is 3.75 revolutions per minute, and the speed reducing motor with the speed reducing ratio of 100 can be selected.

From the above rotational speeds, the sampling frequency of the high-speed sampling can be calculated:

assuming that 1540 points are sampled in the effective detection range of 37.5 degrees, the sampling period Ts is 0.055/14784 is 3.72us when the number of the sampling points N is 360/37.5 × 1540 is 14784 points, the vertical rotation speed is 1080 rpm, and the rotation time is 0.055s, which is equivalent to one rotation in the vertical direction.

According to the spectral response characteristics of the dangerous source, different processing methods are adopted for different dangerous sources, and the processing method in the specific embodiment is as follows:

for the early warning detection of the fire in a large range, the system calculation and judgment method comprises the following steps:

R＝V_f/V_rr is V_fAnd V_rAnd when R is larger than a specific value, performing fire alarm, wherein the specific value is equal to 2.0 or a certain specific value. Wherein V_fFor the response value of the infrared spectrum of the characteristic wave band, V_rThe response value of the infrared spectrum of the reference waveband is obtained;

fire hazard judgment threshold value V_Fire(s)A threshold value ranking of 128, 256, 384, 512, 640, 768, 896, 1024 … …;

the number of alarm points connected on the coordinates can be 1, 2, 4 and 8 points, for example;

the three parameters (especially the last two parameters) actually determine the sensitivity of the system, namely the fire with a specific size can respond at a certain distance, and the smaller the value of V fire, the more the number of connected alarm points and the higher the sensitivity.

For the early warning detection of the large-range gas hazard source, the system calculation and judgment method comprises the following steps:

the calculation is based on Beer-Lambert Law, i.e. Lambert Beer

I_t＝I₀·e^{–E(λ)·C·L}

Wherein, I_tInfrared spectral response intensity detected in real time;

I₀initial intensity of infrared spectral response;

I₀in order to obtain the infrared spectrum response intensity before the dangerous source appears, since the dangerous source detection device is a passive detection system, I₀Background learning is required to be acquired; e (λ) is an exponential function related to λ, depending on the chemical characteristics of the absorbing species (absorbing species refers to hazardous gases in a predetermined range);

λ is the wavelength of the light beam;

c is the concentration of the chemical (i.e., hazardous gas);

l is the length of the optical path (i.e., the thickness (or length) of the hazardous source gas present on the hazardous source optical path).

Therefore, the calculation of the sensing elements of the characteristic absorption waveband and the reference waveband is as follows:

I_t,1＝I_0,1×e^{–E(λ1)·C×L}；

I_t,r＝I_0,r×e^{–E(λr)·C×L}；

I_t,1is the response intensity of the infrared spectrum of the characteristic wave band, I_t,1The infrared spectrum response intensity of a reference waveband is obtained; i is_0,lIs composed of

Characteristic band infrared spectrum response initial intensity, I_0,lThe initial intensity of infrared spectrum response of a reference waveband;

further, the concentration index was calculated as follows:

R_t＝R₀×e^{-[E(λ1)-E(λr)·C×L]}；

wherein E (λ l) is an exponential function related to the center wavelength of the characteristic band, and E (λ r) is an exponential function related to the reference band

A center wavelength-dependent exponential function of;

R_tis the ratio of real-time light intensities, R_tIs equal to I_t,1/I_t,r；

R₀As a ratio of background light intensities, R₀Is equal to I_0,1/I_0,r；

In actual operation, when the calculated product of C and L is greater than LEL × m (LEL × m corresponds to the predetermined product threshold LEL being the lower explosion limit of the hazardous source gas, and m being the distance parameter), a hazardous source gas alarm is issued.

Fig. 8 is a schematic diagram of a detection process using the cell sensor according to the present invention. As shown in fig. 8, after the system status check is completed by powering on the system, the spectrogram is cyclically scanned in the order of the reference band scan and the characteristic band scan. The program firstly scans the spectrogram of the reference waveband, controls the action of the optical filter switching mechanism to enable the reference waveband filter to rotate to the front of the sensor, and enters the reference waveband spectrogram scanning program, the system continuously performs data sampling and simultaneously reads horizontal and vertical angle information, once the scanning of one period is completed, the system enters the scanning of the spectrogram of the characteristic waveband, and also controls the action of the optical filter switching mechanism 211, so that the characteristic waveband filter rotates to the front of the sensor and enters the scanning of the spectrogram of the characteristic waveband. And meanwhile, the program is continuously applied to calculate and analyze the obtained reference and characteristic spectrogram signals, once the reference and characteristic spectrogram signals accord with the characteristics of the hazard source, the numerical value is recorded, the coordinate position is determined, alarm decision analysis is carried out, and information such as the spectrogram, the alarm signal, the parameter of the hazard source and the like is output.

Fig. 9 is a schematic diagram of a detection process using a plurality of sensors according to the present invention. Different from the unit infrared sensing system, the switching of reference and characteristic waveband optical filters is not needed, the multi-element sensing elements correspond to different central wavelengths, the system directly reads the multi-element sensing spectrum information of each point, calculation and analysis are directly carried out, and data, marking coordinates and decision making alarm are recorded for the characteristics which accord with the hazard source. The process is continuously circulated.

The detection processes of both systems of fig. 8 and 9 can achieve the basic detection purpose, but it is most desirable to use a multivariate sensor assembly because there are more influencing factors such as air flow in a large space environment, and multivariate spectral data at the same point in time have faster response capability.

The hazard source detection method according to the embodiment of the present invention is applied to the hazard source detection apparatus, and includes:

the camera shooting unit shoots a preset range to acquire visible image information and infrared image information in the preset range;

According to a specific embodiment, the predetermined bands include a characteristic band and a reference band;

the processor judges whether Vf/Vr is larger than or equal to a preset ratio threshold n or not, and sends out a fire alarm signal when Vf/Vr is larger than or equal to the preset ratio threshold n;

when the processor continuously sends out fire alarm signals within preset judging time, the processor judges that a fire hazard source exists, and n is a positive number; the predetermined decision time is greater than or equal to the predetermined sampling time.

The predetermined determination time may be set according to actual conditions, for example, the predetermined determination time may be twice the predetermined sampling time, or may be four times the predetermined sampling time.

In actual operation, n is a preset ratio threshold, and the value of n may be greater than or equal to 2 and less than or equal to 3.

According to another specific embodiment, the predetermined bands include a characteristic band and a reference band;

Specifically, when the hazard source detection device further comprises a controller, the reflection focalizer comprises a reflection unit and a focusing unit, the reflection unit comprises an infrared reflection plate, a horizontal rotation mechanism and a vertical rotation mechanism, the infrared reflection plate is respectively connected with the horizontal rotation mechanism and the vertical rotation mechanism, and the controller is respectively connected with the horizontal rotation mechanism and the vertical rotation mechanism,

the hazard source detection method further includes:

Specifically, when the camera unit includes a visible light camera and an infrared camera, and the hazard source detection apparatus further includes a camera rotation mechanism, the hazard source detection method further includes:

The invention provides a wide-range spectrum remote sensing hazard source detection device and a method, wherein the device comprises: the reflection focalizer comprises an optical reflection and amplification focusing lens, a control optical system, a horizontal and vertical rotating mechanism for acquiring 360-degree scene optical information, and a horizontal and vertical rotating mechanism for finishing 360-degree panoramic remote sensing scanning of the optical system so as to acquire multiband spectral information covering each point in a scene, so that light of the point is projected onto a specific sensor; the sensing detection system is used for acquiring multiband spectral information of specific wavelength of each point in a 360-degree scene protection area, the reflection unit rotates 360 degrees, point-by-point remote sensing scanning is carried out, and infrared sensors of different wave bands senseThe corresponding spectral response value is obtained, amplified and preprocessed, and then enters a calculation chip, the occurrence or concentration of a hazard source is calculated through calculation and analysis of characteristic waveband information and reference waveband information of each point or through operation of different waveband information, once an alarm is generated, an early warning system outputs alarm information and mirror image projection plane coordinates of the alarm point through a network interface, and the alarm information and the mirror image projection plane coordinates of the alarm point are used for a rear-end monitoring system to calculate and control monitoring equipment such as an unmanned aerial vehicle or a camera to fly to or point to the alarm point. The reflection focalizer is provided with a horizontal rotating mechanism and a vertical rotating mechanism, the vertical rotating mechanism drives a reflector to rotate rapidly, light in a scene in the vertical direction is reflected into the optical hanging cabin, and the horizontal rotating mechanism drives the whole vertical reflecting mechanism to rotate horizontally, so that the purpose of 360-degree scanning is fulfilled. The rotation speeds of the horizontal mechanism and the vertical mechanism are matched with each other, and the remote sensing scanning of scenes with 360 degrees horizontally and 75 degrees vertically (or other suitable angles) can be completed in a fixed period. The infrared/visible double-view scene monitoring camera is used for covering the optical market range of the remote sensing detection system along with the horizontal rotation of the horizontal rotating mechanism, and the double-view images can form continuous 360 degrees in the processing circuitThe scene graph and the danger sources found in the view field are marked on the scene graph through different colors, so that people can observe and make decisions conveniently.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A hazard source detection apparatus comprising a reflective focuser, an infrared sensor and a processor, wherein,

2. The hazard source detecting apparatus of claim 1, further comprising:

3. The hazard source detecting apparatus of claim 2, further comprising a controller; the infrared sensor is a refrigeration type infrared sensor;

4. The hazard source detecting apparatus of claim 3, said camera unit comprising a visible light camera and an infrared camera;

the hazard source detection device also comprises a camera rotating mechanism;

5. The hazard source detecting apparatus of claim 2, said reflective focuser comprising a reflective unit and a focusing unit;

6. The hazard source detecting apparatus of claim 5, said camera unit comprising a visible light camera and an infrared camera; the visible light camera and the infrared camera are respectively and fixedly connected to the upper side edge of the optical reflection frame;

7. The hazard source detecting apparatus of claim 6, said reflective focuser further comprising an optical pod body, said focusing unit being disposed in said optical pod body;

8. The hazard source detecting apparatus of claim 7, said reflective focuser further comprising a horizontal lens;

the horizontal lens is disposed over an opening of the optical pod body.

9. The hazard source detecting apparatus of any one of claims 1 to 8, further comprising a controller;

the infrared sensor is a refrigeration type infrared sensor;

10. The hazard source detecting apparatus of any one of claims 5 to 8, said processor comprising:

the hazard source detection apparatus further comprises a controller;

11. A hazard source detection method applied to the hazard source detection apparatus according to any one of claims 2 to 10, the hazard source detection method comprising:

12. The hazard source detecting method according to claim 11, wherein the predetermined wavelength band includes a characteristic wavelength band and a reference wavelength band;

13. The hazard source detecting method according to claim 11, wherein the predetermined wavelength band includes a characteristic wavelength band and a reference wavelength band;

14. The hazard detecting method according to any one of claims 11 to 13, wherein when the hazard detecting apparatus further comprises a controller, the reflex focuser comprises a reflection unit and a focusing unit, the reflection unit comprises an infrared reflection plate, a horizontal rotation mechanism and a vertical rotation mechanism, the infrared reflection plate is connected to the horizontal rotation mechanism and the vertical rotation mechanism, respectively, and the controller is connected to the horizontal rotation mechanism and the vertical rotation mechanism, respectively,

the hazard source detection method further includes:

15. The hazard source detecting method according to claim 14, when the camera unit includes a visible light camera and an infrared camera, and the hazard source detecting apparatus further includes a camera turning mechanism, the hazard source detecting method further comprising: