CN111951510A - Forestry fire prevention intelligence patrols and examines monitoring early warning system based on big data - Google Patents
Forestry fire prevention intelligence patrols and examines monitoring early warning system based on big data Download PDFInfo
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Abstract
The invention discloses a forestry fire prevention intelligent patrol monitoring and early warning system based on big data, which comprises a patrol area dividing module, an unmanned aerial vehicle patrol route matching module, a database, a plant height acquisition module, a patrol height adjustment module, a fire patrol parameter acquisition and analysis module, a GPS positioning module, a distance navigation module, a central monitoring platform and an early warning module, wherein the forestry fire prevention intelligent patrol monitoring system can be used for intelligently patrol and monitoring forest fires by dividing forest areas, replacing manual patrol by the unmanned aerial vehicle, shooting and counting fire points with fire risks in patrol and inspection subareas in the patrol and inspection process, monitoring the fire and visible smog phenomena in each patrol and inspection subarea at the same time, has the characteristics of high patrol and inspection efficiency, high timeliness and high accuracy, simultaneously positioning the fire point positions and transmitting the positioned geographical positions to forest protection personnel, the fire is extinguished before the forest fire extinguishing device, so that damage to forest resources is reduced.
Description
Technical Field
The invention belongs to the technical field of forestry fire prevention inspection management, and relates to a forestry fire prevention intelligent inspection monitoring and early warning system based on big data.
Background
Forest is one of the important resources in China, and nowadays, the economic development is faster and faster, the sustainable development consciousness of people is gradually improved, so the protection of forest resources is not only the requirement of the economic society, but also the requirement of protecting the ecological environment, but because of natural disasters and artificial damages, the forest resources are continuously damaged, especially forest fires are destructively damaged, and simultaneously, the forest fires can also form great threat to the lives and properties of people, so the forest fire inspection and monitoring are of great importance.
The invention provides a forestry fire prevention intelligent patrol inspection monitoring early warning system based on big data, aiming at solving the problems that the traditional patrol inspection of forest fires is carried out manually by forest protectors, the problem of missed inspection is easy to occur in manual visual patrol inspection, the manual patrol inspection is easily limited by terrains, the patrol inspection difficulty on rugged terrains is increased, the patrol inspection time is inevitably prolonged, and the patrol inspection efficiency is reduced.
Disclosure of Invention
The invention aims to design a forestry fire prevention intelligent inspection monitoring and early warning system based on big data, which replaces manual inspection by an unmanned aerial vehicle and inspects in a specified area according to a specified inspection route, thereby avoiding the omission problem of manual inspection, having high inspection efficiency and solving the problems mentioned in the background technology.
The purpose of the invention is realized by the following technical scheme:
a forestry fire prevention intelligent patrol monitoring and early warning system based on big data comprises a patrol area division module, an unmanned aerial vehicle patrol route matching module, a database, a plant height acquisition module, a patrol height adjustment module, a fire patrol parameter acquisition and analysis module, a central monitoring platform and an early warning module;
the inspection area dividing module is used for dividing the whole forest area into a plurality of inspection subareas which are connected with each other according to a gridding dividing mode, and the inspection subareas are numbered according to a preset sequence and are sequentially marked as 1,2.
The unmanned aerial vehicle routing inspection route matching module is connected with the routing inspection area dividing module and used for acquiring the terrain types of the divided routing inspection sub-areas and further matching the terrain types of the divided routing inspection sub-areas to the routing inspection routes of the unmanned aerial vehicles of the routing inspection sub-areas, and the unmanned aerial vehicle routing inspection route matching module comprises an area terrain analysis module and a routing inspection route matching module;
the regional terrain analysis module extracts the terrain features of the divided inspection subareas, compares the extracted terrain features with the terrain features corresponding to various terrain types in the database, and screens the terrain types corresponding to the terrain features of the inspection subareas;
the routing inspection route matching module extracts the matching relation between various terrain types and routing inspection routes in the database, compares the terrain types of the routing inspection sub-areas obtained by the regional terrain analysis module with the matching relation between the terrain types and the routing inspection routes in the database, and obtains the unmanned aerial vehicle routing inspection routes of the routing inspection sub-areas;
the plant height acquisition module is used for acquiring the plant height below the unmanned aerial vehicle by transmitting ultrasonic waves downwards in the inspection process of the unmanned aerial vehicle by adopting an ultrasonic ranging technology and sending the acquired plant height to the inspection height adjustment module;
the routing inspection height adjusting module is connected with the plant height acquiring module, receives the plant height sent by the plant height acquiring module, records the plant height as h, records the plant height as delta h according to the preset optimal routing inspection height difference between the unmanned aerial vehicle and the plant, calculates the standard routing inspection height of the unmanned aerial vehicle at the plant height at the moment, compares the original flight height of the unmanned aerial vehicle at the moment with the standard routing inspection height of the unmanned aerial vehicle at the plant height at the moment, if the original flight height of the unmanned aerial vehicle is greater than the standard routing inspection height at the moment, the original flight height of the unmanned aerial vehicle at the moment needs to be adjusted down, if the original flight height of the unmanned aerial vehicle at the moment is less than the standard routing inspection height, the original flight height of the unmanned aerial vehicle at the moment needs to be adjusted up;
the database stores the terrain features corresponding to various terrain types, stores the matching relation between the various terrain types and the routing inspection route, stores the fire critical temperature value and stores the temperature range corresponding to the fire risks of various levels, wherein the various terrain types comprise a flat type, a hill type and a basin type, and the various routing inspection routes comprise a Z shape, a zigzag shape and a circular diffusion shape;
the fire inspection parameter acquisition and analysis module comprises a plurality of infrared thermal imaging integrated cameras which are respectively installed on each unmanned aerial vehicle and used for shooting images of each inspection subarea in the inspection process and analyzing the temperature of each inspection subarea, and the specific analysis method comprises the following steps:
s1, acquiring regional thermal images, namely continuously acquiring images of corresponding inspection subareas by an infrared thermal imaging integrated camera installed on each unmanned aerial vehicle in the inspection process of each unmanned aerial vehicle to obtain inspection subarea thermal images at different moments;
s2, image preprocessing, namely, performing image enhancement on the obtained inspection subarea heat maps at different moments and improving the image resolution to obtain a high-definition heat map;
s3, temperature acquisition, namely calculating the temperature of each point of each inspection subarea at each moment according to the acquired high-definition heat map of each inspection subarea at each moment, wherein the specific calculation method comprises the following steps: the acquired heat map reflects the temperature distribution of the inspection subarea at the moment, different colors on the heat map represent different temperatures of the inspection subarea at the moment, a line is drawn on the shot heat map at will, and the temperature values of all points on the line can be displayed through background analysis of SmartViewR thermal analysis software;
s4, fire point analysis, namely comparing the temperature values of all points on the displayed line with fire critical temperatures stored in a database, if the average temperature of a certain point on the line is higher than the fire critical temperature, indicating that the point has a fire risk, acquiring the temperature values of different points on the sub-area heat map of the patrol inspection at the moment through SmartViewR thermal analysis software, counting the number of fire points with the fire risk, positioning the geographical position coordinates of all the fire points with the fire risk through a GPS positioning module, transmitting the geographical position coordinates of all the fire points to a central monitoring platform, comparing the temperature values of all the fire points with the fire risk with temperature ranges corresponding to all the levels of the fire risk, if the fire risk level corresponding to the temperature value of each fire point is screened, transmitting the fire risk level corresponding to each fire point to the central monitoring platform, and if the temperature of all the points on the sub-area heat map at the moment is not higher than the fire critical temperature, the heat map of the inspection subarea at the moment is removed, and the heat map analysis of the inspection subarea at the next moment is carried out;
the central monitoring platform is respectively connected with the GPS positioning module and the fire patrol inspection parameter acquisition and analysis module, receives the geographical position coordinates of each fire point with fire risk sent by the GPS positioning module, sends the received geographical position coordinates of each fire point with fire risk to a handheld mobile terminal of a forest protection worker, assigns the relevant forest protection worker for processing, receives the fire risk grade of each fire point with fire risk sent by the fire patrol inspection parameter acquisition and analysis module, takes a fire fighting measure corresponding to the fire risk grade while assigning the relevant forest protection worker for processing, and simultaneously sends an early warning control signal to the early warning module;
the early warning module is connected with the central monitoring platform, receives an early warning control signal sent by the central monitoring platform and carries out early warning.
Further, still include a plurality of unmanned aerial vehicles, unmanned aerial vehicle and the subregion one-to-one of patrolling and examining of dividing, its each unmanned aerial vehicle patrols and examines according to the route of patrolling and examining of matching in its subregion of patrolling and examining that corresponds, installs infrared thermal imaging integration camera and high definition surveillance camera machine on the unmanned aerial vehicle, infrared thermal imaging integration camera is used for gathering each infrared thermal image of patrolling and examining the subregion, high definition surveillance camera machine is used for the control each patrols and examines subregion's flame and visible smog phenomenon.
Further, the flat type in the various terrain types means that the terrain of the whole routing inspection sub-area is smooth and has no fluctuation, the hill type means that the terrain of the routing inspection sub-area has high and low fluctuation and presents a terrain form similar to hills with high middle and low periphery, and the basin type means that the terrain of the routing inspection sub-area presents a terrain form similar to a basin with low middle and high periphery.
Further, the calculation formula of the unmanned aerial vehicle inspection height adjustment value under the plant height is delta h' ═ h + delta h-h0I, in the formula h0Indicated as the original flying height of the drone at that time.
Furthermore, fire patrol and examine parameter acquisition analysis module still includes the acquisition analysis to flame and visible smog, its concrete analysis method is that unmanned aerial vehicle patrols and examines the in-process, patrol and examine the subregion through the high definition surveillance camera machine of installation on the unmanned aerial vehicle to each and monitor, when having flame or visible smog in the control, high definition surveillance camera machine shoots the monitoring image that flame or smog appear this moment and preserve, and should appear the geographical position of flame or visible smog through GPS orientation module location, send the monitoring image that flame or smog appear that preserves and the geographical position that flame or visible smog appear to central monitoring platform simultaneously.
Furthermore, the GPS positioning module comprises a first GPS positioning module and a second GPS positioning module, the first GPS positioning module and the fire patrol parameter acquisition and analysis module are used for positioning the fire point geographical position with fire risk or the geographical position with fire or visible smoke and sending the positioned geographical position to the central monitoring platform, and the second GPS positioning module is used for acquiring the geographical position of each forest protection person and sending the acquired geographical position of each forest protection person to the central monitoring platform.
Further, the central monitoring platform receives the fire point geographical position with fire risk or the geographical position with fire or visible smoke sent by the first GPS positioning module, receives the geographical positions of all forest workers sent by the second GPS positioning module, simultaneously receives the monitoring images with fire or smoke sent by the fire patrol parameter acquisition and analysis module, performs distance matching between the received geographical positions of all forest workers and the fire point geographical position with fire risk or the geographical position with fire or visible smoke, screens the position of the forest worker closest to the fire point geographical position with fire risk or the geographical position with fire or visible smoke, and sends the fire point geographical position with fire risk and the geographical position with fire or visible smoke together with the monitoring images with fire or smoke to the handheld mobile terminal of the forest workers, and indicating the forest protection personnel to go to the target position for processing through the interphone.
And the distance navigation module is connected with the central monitoring platform, navigates the position of the forest protection personnel which is screened by the central monitoring platform and is closest to the fire point geographical position with fire risk or the geographical position with fire or visible smoke, acquires an optimal navigation route, and sends the acquired optimal navigation route to the handheld mobile terminal of the forest protection personnel.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention divides the forest area into a plurality of inspection subareas, inspects the designated inspection subareas according to the inspection routes matched with the terrain by using the unmanned aerial vehicle, performs infrared thermal imaging shooting on the inspection subareas by using the infrared thermal imaging integrated camera in the inspection process, analyzes the temperature of each inspection subarea, counts the fire points with fire risks, simultaneously monitors the flame and visible smoke phenomena of each inspection subarea by using the high-definition monitoring camera, can intelligently inspect and monitor the forest fire, has the characteristics of high monitoring speed, high timeliness and high accuracy, compensates the influence of terrain limitation on manual inspection by using the unmanned aerial vehicle for inspection, has high inspection efficiency, saves a large amount of manpower, and simultaneously performs GPS positioning on the fire points with fire risks or the monitored flame and visible smoke positions, the geographical position of GPS location is sent to the forest protection personnel in combination with central monitoring platform, and the forest protection personnel are assigned to go to and put out the fire as soon as possible, thereby reducing the damage to forest resources.
(2) According to the invention, the terrain types of the inspection subareas are analyzed, different inspection routes are matched according to different terrain types, and the unmanned aerial vehicle is arranged to inspect according to the matched inspection routes, so that the whole inspection subarea can be inspected comprehensively, the problem of missed inspection caused by manual inspection is avoided, and the inspection efficiency is improved.
(3) The infrared thermal imaging camera is used for carrying out infrared thermal imaging shooting on the inspection subarea to obtain the inspection subarea heat map, the temperature distribution of the inspection subarea can be accurately reflected, the distribution condition of fire spots is further obtained, and the judgment of the next-step rescue work is facilitated.
Drawings
The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be derived on the basis of these drawings without inventive effort.
FIG. 1 is a block diagram of the modules of the present invention;
FIG. 2 is a schematic diagram of an unmanned aerial vehicle routing inspection route matching module of the present invention;
fig. 3 is a flow chart of the analysis steps of the infrared thermal imaging acquisition processing unit of the present invention.
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.
Referring to fig. 1-3, the forestry fire prevention intelligent patrol inspection monitoring and early warning system based on big data comprises a patrol inspection area division module, an unmanned aerial vehicle patrol inspection route matching module, a database, a plant height acquisition module, a patrol inspection height adjustment module, a fire patrol inspection parameter acquisition and analysis module, a GPS positioning module, a distance navigation module, a central monitoring platform and an early warning module.
The inspection area dividing module is used for dividing the whole forest area into a plurality of inspection subareas which are connected with each other according to a gridding dividing mode, the inspection subareas are numbered according to a preset sequence and are marked as 1,2.
The unmanned aerial vehicle routing inspection route matching module is connected with the routing inspection area dividing module and used for acquiring the terrain types of the divided routing inspection sub-areas and further matching the terrain types to the routing inspection routes of the unmanned aerial vehicles of the routing inspection sub-areas, and the unmanned aerial vehicle routing inspection route matching module comprises an area terrain analysis module and a routing inspection route matching module;
the regional terrain analysis module extracts the terrain features of the divided inspection subareas, compares the extracted terrain features with the terrain features corresponding to various terrain types in the database, and screens the terrain types corresponding to the terrain features of the inspection subareas;
the routing inspection route matching module extracts the matching relation between various terrain types and routing inspection routes in the database, compares the terrain types of the routing inspection sub-areas obtained by the regional terrain analysis module with the matching relation between the terrain types and the routing inspection routes in the database, and obtains the unmanned aerial vehicle routing inspection routes of the routing inspection sub-areas;
this preferred embodiment is through patrolling and examining the subregion to each and carrying out the analysis of topography type, and the different route of patrolling and examining is matchd according to the topography type of difference for the route of patrolling and examining and topography adaptation has compensatied the manual work and has patrolled and examined the influence that easily receives the topography restriction, has improved and has patrolled and examined efficiency.
Unmanned aerial vehicle patrols and examines at each subregion of patrolling and examining and adopts unmanned aerial vehicle to patrol and examine, unmanned aerial vehicle and the subregion one-to-one of patrolling and examining of dividing, install infrared thermal imaging integration camera and high definition surveillance camera machine on the unmanned aerial vehicle, infrared thermal imaging integration camera is used for gathering each infrared thermal image of patrolling and examining the subregion, high definition surveillance camera machine is used for monitoring each and patrols and examines the flame and the visible smog phenomenon of subregion, and its each unmanned aerial vehicle patrols and examines according to the route of patrolling and examining of matching in its subregion of patrolling and examining that corresponds, is favorable to patrolling and examining the.
The plant height acquisition module is used for unmanned aerial vehicle to adopt ultrasonic ranging technique through the ultrasonic wave of launching downwards at the in-process of patrolling and examining, acquires the plant height below the unmanned aerial vehicle to highly send the plant height who obtains to the height adjustment module of patrolling and examining.
The patrol height adjusting module is connected with the plant height obtaining module and used for receiving the plant heightDegree obtains the plant height that the module sent, mark as h, according to the best difference in height of patrolling and examining of predetermined unmanned aerial vehicle apart from the plant, mark as delta h, calculate this moment the standard of unmanned aerial vehicle under the plant height and patrol and examine the height, simultaneously with this moment the original flying height of unmanned aerial vehicle and this standard of unmanned aerial vehicle under the plant height patrol and examine the height and compare, if the original flying height of unmanned aerial vehicle is greater than the standard and patrol and examine the height this moment, then need adjust the height operation to this moment the original flying height of unmanned aerial vehicle, it patrols and examines height adjustment value delta h' ═ h + delta h-h to count unmanned aerial vehicle that this plant height was down and examine height adjustment value delta h ═ h-0I, in the formula h0Indicated as the original flying height of the drone at that time.
This preferred embodiment patrols and examines through unmanned aerial vehicle and highly constantly adjusts, and the altitude difference of patrolling and examining of distance plant satisfies the best altitude difference of patrolling and examining all the time when making unmanned aerial vehicle patrol and examine, and the heat map or the monitored image that the purpose was shot through infrared thermal imaging integration camera and high definition surveillance camera machine are more clear, satisfy follow-up image processing's needs.
The database stores the terrain features corresponding to various terrain types, stores the matching relation between the various terrain types and the inspection route, stores fire critical temperature values, and stores the temperature ranges corresponding to fire risks of various levels, wherein the various terrain types comprise flat types, hill types and basin types, the various inspection routes comprise Z-shaped, zigzag and circular diffusion shapes, the flat types mean that the terrain of the whole inspection sub-area is smooth and has no fluctuation, the hill types mean that the terrain of the inspection sub-area has high and low fluctuation and presents terrain forms similar to hills with high middle and low periphery, and the basin types mean that the terrain of the inspection sub-area presents terrain forms similar to basins with low middle and high periphery. The matching relation of various terrain types and the routing of patrolling and examining specifically is that the routing of patrolling and examining that the flat type topography corresponds can be for any one of three kinds of routes of patrolling and examining, and the routing of patrolling and examining that the hilly type topography corresponds is the font of returning font, and the routing of patrolling and examining that the basin type topography corresponds is circular diffusion shape.
The fire inspection parameter acquisition and analysis module comprises an infrared thermal imaging acquisition and processing unit and a flame and visible smoke acquisition and analysis unit, wherein the infrared thermal imaging acquisition and processing unit shoots images of inspection subareas through an infrared thermal imaging integrated camera and analyzes the temperature of the inspection subareas, and the specific analysis method comprises the following steps:
s1, acquiring regional thermal images, namely continuously acquiring images of corresponding inspection subareas by an infrared thermal imaging integrated camera installed on each unmanned aerial vehicle in the inspection process of each unmanned aerial vehicle to obtain inspection subarea thermal images at different moments;
s2, image preprocessing, namely, performing image enhancement on the obtained inspection subarea heat maps at different moments and improving the image resolution to obtain a high-definition heat map;
s3, temperature acquisition, namely calculating the temperature of each point of each inspection subarea at each moment according to the acquired high-definition heat map of each inspection subarea at each moment, wherein the specific calculation method comprises the following steps: the acquired heat map reflects the temperature distribution of the inspection subarea at the moment, different colors on the heat map represent different temperatures of the inspection subarea at the moment, a line is drawn on the shot heat map at will, and the temperature values of all points on the line can be displayed through background analysis of SmartViewR thermal analysis software;
s4, fire point analysis, namely comparing the temperature values of all points on the displayed line with fire critical temperatures stored in a database, if the average temperature of a certain point on the line is higher than the fire critical temperature, indicating that the point has a fire risk, acquiring the temperature values of different points on the sub-area heat map of the patrol inspection at the moment through SmartViewR thermal analysis software, counting the number of fire points with the fire risk, positioning the geographical position coordinates of all the fire points with the fire risk through a GPS positioning module, transmitting the geographical position coordinates of all the fire points to a central monitoring platform, comparing the temperature values of all the fire points with the fire risk with temperature ranges corresponding to all the levels of the fire risk, if the fire risk level corresponding to the temperature value of each fire point is screened, transmitting the fire risk level corresponding to each fire point to the central monitoring platform, and if the temperature of all the points on the sub-area heat map at the moment is not higher than the fire critical temperature, and indicating that the sub-area does not have the fire risk at the moment, removing the heat map of the sub-area at the moment, and analyzing the heat map of the sub-area at the next moment.
In the preferred embodiment, the infrared thermal imaging technology is utilized to have strong detection capability and long action distance, the temperature field of the surface of an object can be visually displayed without being influenced by strong light, the infrared thermal imaging integrated camera is adopted to carry out infrared thermal imaging shooting on the inspection subarea, and the obtained inspection subarea heat map can accurately reflect the temperature distribution of the inspection subarea, so that the distribution condition of fire spots is obtained, and the judgment of the next-step rescue work is facilitated.
The flame and visible smoke acquisition and analysis unit monitors each patrol and examine subarea through a high-definition monitoring camera installed on the unmanned aerial vehicle, when the flame or visible smoke is monitored, the high-definition monitoring camera shoots a monitoring image of the flame or smoke at the moment and stores the monitoring image, the geographical position of the flame or visible smoke is located through the GPS locating module, and the stored monitoring image of the flame or smoke and the geographical position of the flame or visible smoke are sent to the central monitoring platform.
The GPS positioning module comprises a first GPS positioning module and a second GPS positioning module, the first GPS positioning module and the fire patrol parameter acquisition and analysis module are used for positioning the fire point geographical position with fire risk or the geographical position with fire or visible smoke, and sending the positioned geographical position to the central monitoring platform, and the second GPS positioning module is used for acquiring the geographical position of each forest protection person and sending the acquired geographical position of each forest protection person to the central monitoring platform.
The central monitoring platform is respectively connected with the GPS positioning module and the fire patrol parameter acquisition and analysis module, receives the fire point geographical position with fire risk or the geographical position with fire or visible smoke sent by the first GPS positioning module, receives the geographical position of each forest worker sent by the second GPS positioning module, simultaneously receives the fire risk grade of each fire point with fire risk and the monitoring image with fire or smoke sent by the fire patrol parameter acquisition and analysis module, performs distance matching on the received geographical position of each forest worker and the geographical position of the forest worker closest to the fire point geographical position with fire risk or the geographical position with fire or visible smoke, screens the geographical position of the fire point with fire risk and the geographical position with fire or visible smoke together with the fire risk grade of each fire point with fire risk and the geographical position with fire risk grade of each fire point with fire risk And the monitoring images of the flame or the smoke are sent to the handheld mobile terminal of the forest protection personnel together, and the forest protection personnel are indicated to go to the target position for processing through the interphone. Forest protection personnel receive the fire risk level of each fire point with fire risk or the monitoring image of flame or smog, take the fire extinguishing measures including fire extinguishers, fire-extinguishing water guns, wind-force fire extinguishers and the like corresponding to the fire risk level according to the fire risk level, or according to the received monitoring image of flame or smog, analyze the danger level of the fire from the fire and the range or the smog range of the flame in the image, thereby take corresponding fire extinguishing measures in advance, put out a fire in preparation, improve the fire extinguishing efficiency and greatly enhance the fire extinguishing effect.
Meanwhile, the central monitoring platform sends an early warning control signal to the early warning module, and sends the geographical position of the forest protection personnel closest to the screening distance, the geographical position of a fire point with fire risk and the geographical position with a fire or visible smoke to the distance navigation module.
The early warning module is connected with the central monitoring platform, receives an early warning control signal sent by the central monitoring platform, carries out early warning, and reminds forest protection personnel of the occurrence of a fire disaster.
And the distance navigation module is connected with the central monitoring platform, navigates the position of the forest protection personnel screened by the central monitoring platform and the fire point geographical position with fire risk or the geographical position with fire or visible smoke, acquires an optimal navigation route, and sends the acquired optimal navigation route to the handheld mobile terminal of the forest protection personnel, wherein the handheld mobile terminal can be a mobile phone, a bracelet and the like.
The preferred embodiment locates the geographical position of the fire point with fire risk and the geographical position where the fire or visible smoke occurs, locates the positions of all forest protection personnel, screens the geographical position of the fire point with fire risk and the position of the forest protection personnel closest to the geographical position where the fire or visible smoke occurs, plans the optimal navigation route, guides the forest protection personnel to go according to the optimal navigation, saves the time on the road, enables the forest protection personnel to reach the target position as soon as possible, and then puts out the fire as soon as possible, embodies the timeliness of fire extinguishing, thereby reducing the damage of the fire to the forest to the minimum.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
Claims (8)
1. The utility model provides a monitoring early warning system is patrolled and examined to forestry fire prevention intelligence based on big data which characterized in that: the system comprises a patrol area division module, an unmanned aerial vehicle patrol route matching module, a database, a plant height acquisition module, a patrol height adjustment module, a fire patrol parameter acquisition and analysis module, a central monitoring platform and an early warning module;
the inspection area dividing module is used for dividing the whole forest area into a plurality of inspection subareas which are connected with each other according to a gridding dividing mode, and the inspection subareas are numbered according to a preset sequence and are sequentially marked as 1,2.
The unmanned aerial vehicle routing inspection route matching module is connected with the routing inspection area dividing module and used for acquiring the terrain types of the divided routing inspection sub-areas and further matching the terrain types of the divided routing inspection sub-areas to the routing inspection routes of the unmanned aerial vehicles of the routing inspection sub-areas, and the unmanned aerial vehicle routing inspection route matching module comprises an area terrain analysis module and a routing inspection route matching module;
the regional terrain analysis module extracts the terrain features of the divided inspection subareas, compares the extracted terrain features with the terrain features corresponding to various terrain types in the database, and screens the terrain types corresponding to the terrain features of the inspection subareas;
the routing inspection route matching module extracts the matching relation between various terrain types and routing inspection routes in the database, compares the terrain types of the routing inspection sub-areas obtained by the regional terrain analysis module with the matching relation between the terrain types and the routing inspection routes in the database, and obtains the unmanned aerial vehicle routing inspection routes of the routing inspection sub-areas;
the plant height acquisition module is used for acquiring the plant height below the unmanned aerial vehicle by transmitting ultrasonic waves downwards in the inspection process of the unmanned aerial vehicle by adopting an ultrasonic ranging technology and sending the acquired plant height to the inspection height adjustment module;
the routing inspection height adjusting module is connected with the plant height acquiring module, receives the plant height sent by the plant height acquiring module, records the plant height as h, records the plant height as delta h according to the preset optimal routing inspection height difference between the unmanned aerial vehicle and the plant, calculates the standard routing inspection height of the unmanned aerial vehicle at the plant height at the moment, compares the original flight height of the unmanned aerial vehicle at the moment with the standard routing inspection height of the unmanned aerial vehicle at the plant height at the moment, if the original flight height of the unmanned aerial vehicle is greater than the standard routing inspection height at the moment, the original flight height of the unmanned aerial vehicle at the moment needs to be adjusted down, if the original flight height of the unmanned aerial vehicle at the moment is less than the standard routing inspection height, the original flight height of the unmanned aerial vehicle at the moment needs to be adjusted up;
the database stores the terrain features corresponding to various terrain types, stores the matching relation between the various terrain types and the routing inspection route, stores the fire critical temperature value and stores the temperature range corresponding to the fire risks of various levels, wherein the various terrain types comprise a flat type, a hill type and a basin type, and the various routing inspection routes comprise a Z shape, a zigzag shape and a circular diffusion shape;
the fire inspection parameter acquisition and analysis module comprises a plurality of infrared thermal imaging integrated cameras which are respectively installed on each unmanned aerial vehicle and used for shooting images of each inspection subarea in the inspection process and analyzing the temperature of each inspection subarea, and the specific analysis method comprises the following steps:
s1, acquiring regional thermal images, namely continuously acquiring images of corresponding inspection subareas by an infrared thermal imaging integrated camera installed on each unmanned aerial vehicle in the inspection process of each unmanned aerial vehicle to obtain inspection subarea thermal images at different moments;
s2, image preprocessing, namely, performing image enhancement on the obtained inspection subarea heat maps at different moments and improving the image resolution to obtain a high-definition heat map;
s3, temperature acquisition, namely calculating the temperature of each point of each inspection subarea at each moment according to the acquired high-definition heat map of each inspection subarea at each moment, wherein the specific calculation method comprises the following steps: the acquired heat map reflects the temperature distribution of the inspection subarea at the moment, different colors on the heat map represent different temperatures of the inspection subarea at the moment, a line is drawn on the shot heat map at will, and the temperature values of all points on the line can be displayed through background analysis of SmartViewR thermal analysis software;
s4, fire point analysis, namely comparing the temperature values of all points on the displayed line with fire critical temperatures stored in a database, if the average temperature of a certain point on the line is higher than the fire critical temperature, indicating that the point has a fire risk, acquiring the temperature values of different points on the sub-area heat map of the patrol inspection at the moment through SmartViewR thermal analysis software, counting the number of fire points with the fire risk, positioning the geographical position coordinates of all the fire points with the fire risk through a GPS positioning module, transmitting the geographical position coordinates of all the fire points to a central monitoring platform, comparing the temperature values of all the fire points with the fire risk with temperature ranges corresponding to all the levels of the fire risk, if the fire risk level corresponding to the temperature value of each fire point is screened, transmitting the fire risk level corresponding to each fire point to the central monitoring platform, and if the temperature of all the points on the sub-area heat map at the moment is not higher than the fire critical temperature, the heat map of the inspection subarea at the moment is removed, and the heat map analysis of the inspection subarea at the next moment is carried out;
the central monitoring platform is respectively connected with the GPS positioning module and the fire patrol inspection parameter acquisition and analysis module, receives the geographical position coordinates of each fire point with fire risk sent by the GPS positioning module, sends the received geographical position coordinates of each fire point with fire risk to a handheld mobile terminal of a forest protection worker, assigns the relevant forest protection worker for processing, receives the fire risk grade of each fire point with fire risk sent by the fire patrol inspection parameter acquisition and analysis module, takes a fire fighting measure corresponding to the fire risk grade while assigning the relevant forest protection worker for processing, and simultaneously sends an early warning control signal to the early warning module;
the early warning module is connected with the central monitoring platform, receives an early warning control signal sent by the central monitoring platform and carries out early warning.
2. The forestry fire prevention intelligent inspection monitoring and early warning system based on big data according to claim 1, characterized in that: still include a plurality of unmanned aerial vehicles, the sub-region one-to-one is patrolled and examined in unmanned aerial vehicle and the subregion of patrolling and examining of division, and its each unmanned aerial vehicle patrols and examines according to the route of patrolling and examining of matching in its sub-region of patrolling and examining that corresponds, install infrared thermal imaging integration camera and high definition surveillance camera machine on the unmanned aerial vehicle, infrared thermal imaging integration camera machine is used for gathering each infrared thermal image of patrolling and examining the subregion, high definition surveillance camera machine is used for the control each patrols.
3. The forestry fire prevention intelligent inspection monitoring and early warning system based on big data according to claim 1, characterized in that: the flat type in various terrain types means that the terrain of the whole patrolling sub-area is smooth and has no fluctuation, the hill type means that the terrain of the patrolling sub-area has high and low fluctuation and presents terrain forms similar to hills with high middle and low periphery, and the basin type means that the terrain of the patrolling sub-area presents terrain forms similar to basins with low middle and high periphery.
4. The forest fire prevention intelligent inspection monitoring and early warning system based on big data as claimed in claim 1The method is characterized in that: the calculation formula of the unmanned aerial vehicle inspection height adjustment value under the plant height is delta h ═ h + delta h-h0I, in the formula h0Indicated as the original flying height of the drone at that time.
5. The forestry fire prevention intelligent inspection monitoring and early warning system based on big data according to claim 1, characterized in that: the fire inspection parameter acquisition and analysis module further comprises acquisition and analysis of the flame and the visible smoke, the specific analysis method is that the unmanned aerial vehicle monitors the inspection subareas through a high-definition monitoring camera installed on the unmanned aerial vehicle in the inspection process, when the flame or the visible smoke is monitored, the high-definition monitoring camera shoots the monitoring image of the flame or the smoke and stores the monitoring image, the geographical position of the flame or the visible smoke is located through a GPS locating module, and the stored monitoring image of the flame or the smoke and the geographical position of the flame or the visible smoke are sent to a central monitoring platform.
6. The forestry fire prevention intelligent inspection monitoring and early warning system based on big data according to claim 1, characterized in that: the GPS positioning module comprises a first GPS positioning module and a second GPS positioning module, the first GPS positioning module and the fire patrol parameter acquisition and analysis module are used for positioning the fire point geographical position with fire risk or the geographical position with fire or visible smoke and sending the positioned geographical position to the central monitoring platform, and the second GPS positioning module is used for acquiring the geographical position of each forest protection personnel and sending the acquired geographical position of each forest protection personnel to the central monitoring platform.
7. The forestry fire prevention intelligent inspection monitoring and early warning system based on big data according to claim 1, characterized in that: the central monitoring platform receives the fire point geographical position with fire risk or the geographical position with fire or visible smoke sent by the first GPS positioning module, receives the geographical position of each forest protection person sent by the second GPS positioning module, simultaneously receives the monitoring image with fire or smoke sent by the fire patrol parameter acquisition and analysis module, matches the received geographical position of each forest protection person with the fire point geographical position with fire risk or the geographical position with fire or visible smoke in distance, screens the position of the forest protection person closest to the fire point geographical position with fire risk or the geographical position with fire or visible smoke, and sends the fire point geographical position with fire risk and the geographical position with fire or visible smoke together with the monitoring image with fire or smoke to the handheld mobile terminal of the forest protection person, and indicating the forest protection personnel to go to the target position for processing through the interphone.
8. The forestry fire prevention intelligent inspection monitoring and early warning system based on big data according to claim 1, characterized in that: the system further comprises a distance navigation module which is connected with the central monitoring platform, navigates the position of the forest protection personnel which is screened by the central monitoring platform and is closest to the fire point geographical position with fire risk or the geographical position with fire or visible smoke, acquires an optimal navigation route, and sends the acquired optimal navigation route to the handheld mobile terminal of the forest protection personnel.
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