Design Of Forest Fire Real-time Monitoring And Tracking System Based On Small Unmanned Helicopter

Due to the unique natural environment of the forest and the influence of human activities,forests often become the places where fires occur.The huge destructive power of forest fire has brought irreparable economic losses to human beings,heavy casualties and serious damage to the ecological environment.Traditional methods of monitoring forest fires can not be effectively monitored.However,the advantages of small unmanned helicopters in forest fire monitoring have become more and more widely used due to their long term,flexibility,stability and take-off and landing at any location.In this paper,unmanned helicopter is as a platform,on this basis,equipped with visible and infrared binocular cameras and PTZ,designed and implemented a set of real-time forest fire monitoring and tracking system.The main contents of this paper are as follows:(1)Image-based fire detection and image fire tracking are realized.The fire characteristics of forest fire are studied.For the color image,the RGB color model is used to divide the suspected fire area.CamShift algorithm is used to track the fire according to the color of the fire.For the infrared image,the fire area is divided by the thresholding method to select the reasonable fire Eigenvector,a fire recognition algorithm based on SVM is designed and the samples are trained and verified.(2)Achieve binocular camera calibration and coordinate fusion.The calibration parameters of binocular camera were calibrated using Zhang Zhengyou calibration method.The relationship between the camera imaging model and the image coordinate system,camera coordinate system and world coordinate system was studied.The coordinates in the infrared image and the coordinates in the color image were converted.(3)The image processing algorithm has been transplanted to DSP-side.Because ARM kernel of the embedded system can only reach 3,4Hz in the infrared image processing,DSP core is introduced in this paper to improve the processing speed.In this paper,the firecage image processing algorithm based on Opencv is transplanted to the DSP side and finally can reach the infrared thermography's image acquisition frame rate,8.3Hz.(4)A set of real-time forest fire monitoring and tracking system is designed and implemented,which can realize the communication between the UAV and the ground station.Based on the above,the fire image recognition and tracking experiment of color image,The infrared image Fire recognition experiments,joint commissioning with the PTZ and outdoor fire experiments are designed,experiments show that when the UAV flight altitude is greater than 20 m,the flight speed is 5m / s,the system designed could realize forest fire monitoring,image Processing,PTZ control motor rotation to achieve the fire point of mechanical tracking and other functions.