技术领域technical field
本发明属于公共安全领域，涉及火灾火焰检测预警及机器人灭火系统，具体涉及一种自动巡检的智能预警灭火机器人。The invention belongs to the field of public security, and relates to a fire flame detection and early warning and robot fire extinguishing system, in particular to an intelligent early warning and fire extinguishing robot for automatic inspection.
背景技术Background technique
火灾猛如虎！火灾是威胁人类生存的重大隐患，随着社会发展步伐的加快，尤其是近年来，频发的火灾给人们造成了重大的生命和财产损失。据统计，我国2011年共发生火灾125402起，造成1106人死亡，直接经济损失19.8亿元。2011年6月上海发生的特大火灾，造成58人死亡，直接经济损失1.58亿元。利用现代高科技手段及时地发现火灾源并及时采取有效消防措施扑灭初期火焰，可以大大减少各种损失，灭火机器人无疑为我们提供了最好的选择。The fire is as fierce as a tiger! Fire is a major hidden danger that threatens human existence. With the acceleration of social development, especially in recent years, frequent fires have caused great loss of life and property to people. According to statistics, a total of 125,402 fires occurred in my country in 2011, resulting in 1,106 deaths and a direct economic loss of 1.98 billion yuan. In June 2011, a huge fire broke out in Shanghai, killing 58 people and causing a direct economic loss of 158 million yuan. Using modern high-tech means to find fire sources in time and take effective fire-fighting measures to extinguish the initial flames can greatly reduce various losses. Fire-fighting robots undoubtedly provide us with the best choice.
大多数火灾发生之所以能造成重大伤亡事故和重大财产损失，其主要原因有：1、火情发现不及时，在一些重要场所，如仓库、实验室、车间等没有定时巡回检测火焰的设备，特别是易引起自燃的场所或火灾易发的化工车间等场所，如果不配备能巡回检测设备，就不能及时发现火情，致使早期的小火很快蔓延成大火，给后来的灭火造成困难，以致酿成大祸；2、有些虽然有火焰检测装置，如监控摄像头等，但由于火情信息传送延迟，不能在火灾发生的初期采取有效灭火措施，也会造成重大的火灾损失。The main reasons why most fires can cause heavy casualties and heavy property losses are: 1. The fire is not discovered in time. In some important places, such as warehouses, laboratories, workshops, etc., there is no equipment for regular inspections of flames. Especially in places prone to spontaneous combustion or fire-prone chemical workshops and other places, if there is no patrol inspection equipment, the fire cannot be found in time, causing the early small fire to quickly spread into a large fire, which will cause difficulties for subsequent fire extinguishing. 2. Although some have flame detection devices, such as monitoring cameras, etc., due to the fire information transmission delay, effective fire extinguishing measures can not be taken in the initial stage of fire occurrence, which will also cause significant fire losses.
众所周知，要灭火，首先得火灾检测，火焰检测大约经历了从感温检测→离子感烟检测→光电感烟检测→气敏检测→红外检测→视频检测的发展历程。作为传统的火灾检测的感温、感烟、气敏类探测器主要用于室内小范围的火灾检测，具有空间适用性有限、信息可靠性差、易受外界干扰等缺点。而红外探测器的价格昂贵，限制了其使用范围。视频探测器是一种以图像处理技术为基础的火灾检测器，利用摄像机监控监测点情景，通过对所捕捉的视频信息进行处理、分析，进而实现火灾火焰的检测和火灾的预警，抗干扰能力较强，空间适用性强。视频火灾预警技术中，火灾火焰检测方法是核心，虽然国内专家在近几年对视频火灾火焰检测方法开展了一定的研究开发工作，但是成熟的技术鲜有应用，相应的产品也很少面世。As we all know, to extinguish a fire, fire detection is the first thing to do. Flame detection has experienced a development process from temperature detection → ion smoke detection → photoelectric smoke detection → gas detection → infrared detection → video detection. As traditional fire detection, temperature-, smoke-, and gas-sensitive detectors are mainly used for small-scale indoor fire detection, which have the disadvantages of limited space applicability, poor information reliability, and susceptibility to external interference. The infrared detector is expensive, which limits its scope of use. Video detector is a kind of fire detector based on image processing technology. It uses camera to monitor the scene of the monitoring point. By processing and analyzing the captured video information, it can realize the detection of fire flame, early warning of fire and anti-interference ability. Strong, strong space applicability. In the video fire early warning technology, the fire flame detection method is the core. Although domestic experts have carried out some research and development work on the video fire flame detection method in recent years, the mature technology is rarely applied, and the corresponding products are rarely available.
发明内容Contents of the invention
本发明的目的在于：提供一种智能预警灭火机器人，抗干扰能力强，空间适用性好，可以监测到火灾初期细微火源的火灾火焰视频，火灾预警准确度高，误报率低。The purpose of the present invention is to provide an intelligent early warning fire extinguishing robot with strong anti-interference ability and good space applicability, which can monitor the fire flame video of the subtle fire source in the early stage of fire, with high fire early warning accuracy and low false alarm rate.
本发明的技术解决方案是：该智能预警灭火机器人由轮式车上安装温度传感器、烟雾传感器、火焰传感器、云台摄像机、两自由度机械手、灭火器、控制器构成；利用云台摄像机所拍火灾火焰图像，通过计算实现预警灭火机器人对火源的定位；灭火器安装在两自由度机械手平台上，利用机械手上所配摄像机图像来实现灭火器喷嘴对准火源，准确完成灭火；温度传感器、烟雾传感器、火焰传感器、云台摄像机、两自由度机械手依电回路方式连接控制器。The technical solution of the present invention is: the intelligent early warning fire extinguishing robot is composed of a temperature sensor, a smoke sensor, a flame sensor, a pan-tilt camera, a two-degree-of-freedom manipulator, a fire extinguisher, and a controller installed on a wheeled vehicle; Flame image, through calculation to realize the positioning of the fire source by the early warning fire extinguishing robot; the fire extinguisher is installed on the two-degree-of-freedom manipulator platform, and the camera image on the manipulator is used to align the nozzle of the fire extinguisher to the fire source and complete the fire extinguishing accurately; temperature sensor, smoke sensor , flame sensor, pan-tilt camera, and two-degree-of-freedom manipulator are connected to the controller in the form of an electric circuit.
工作时，轮式车移动，通过温度传感器、烟雾传感器、火焰传感器和云台摄像机巡回检测待检测的场所，经多数据融合和智能化分析给出即时的火灾火情状态，再利用图像信号的分析和处理得到火源的具体方位，根据火情给出相应预警信号，并通过无线网络实现预警信号的传输和发送，同时通过两自由度机械手启动便携式灭火器实时灭火。When working, the wheeled vehicle moves, and the place to be detected is detected by the temperature sensor, smoke sensor, flame sensor and pan-tilt camera. The real-time fire status is given through multi-data fusion and intelligent analysis, and then the image signal is used to The specific location of the fire source is obtained through analysis and processing, and the corresponding early warning signal is given according to the fire situation, and the transmission and transmission of the early warning signal are realized through the wireless network, and the portable fire extinguisher is activated in real time through the two-degree-of-freedom manipulator to extinguish the fire.
本发明的优点是：The advantages of the present invention are:
1、与传统火灾检测系统相比，本发明的预警灭火机器人能及时检测发现火情，即时消除初期火情，及时传输火情信息，将火灾消灭在初期萌芽状态。1. Compared with the traditional fire detection system, the early warning fire extinguishing robot of the present invention can detect and discover the fire in time, eliminate the initial fire immediately, transmit fire information in time, and eliminate the fire in the initial stage.
2、空间适用性强，既可以用于仓库、实验室类室内小范围的火灾监测及预警，也可以用于森林类大范围火灾监测及预警。2. Strong space applicability, it can be used not only for small-scale indoor fire monitoring and early warning in warehouses and laboratories, but also for large-scale fire monitoring and early warning in forests.
3、采用网络视频CCD摄像头获取监测点图像，利用数字图像处理技术使预警有较高的抗干扰能力和网络化特征，与红外火灾监测系统相比性价比较高。3. The network video CCD camera is used to obtain the images of the monitoring points, and the digital image processing technology is used to make the early warning have high anti-interference ability and network characteristics. Compared with the infrared fire monitoring system, the cost performance is higher.
4、对火灾火焰的静态和动态特征进行信息融合，给出一种基于神经网络与D-S证据判决的火灾判别算法，能快速判别预警，误判率较低。4. Information fusion of static and dynamic characteristics of fire flames is carried out, and a fire discrimination algorithm based on neural network and D-S evidence judgment is given, which can quickly distinguish and early warning, and the misjudgment rate is low.
5、采用三级火灾火焰预警，能够根据现场实时火焰实现预警智能化，科学合理并有序地调度火灾发生时的人力、财力。5. Three-level fire flame warning is adopted, which can realize the intelligent early warning according to the real-time flame on the spot, and dispatch the manpower and financial resources when the fire occurs in a scientific, reasonable and orderly manner.
6、本发明的预警灭火机器人比传统灭火机器人更加智能化，可以避免火灾损失或将火灾可能造成的重大损失减小到最低。6. The early warning fire extinguishing robot of the present invention is more intelligent than the traditional fire extinguishing robot, and can avoid fire losses or minimize major losses that may be caused by fires.
7、预警灭火机器人是集火焰巡回检测、火灾预警、启动灭火于一体的智能灭火装置，基于多特征信息融合的火灾火焰判别，通过定时巡回检测，及时发现火情，并通过网络及时发布火灾预警信息的同时即时启动机载灭火器实施有效灭火，将火灾消灭在初期萌芽状态，有效避免初期火灾的蔓延，保证及时发现火情、即时消除初期小火情、及时传输火情信息。7. The early warning fire extinguishing robot is an intelligent fire extinguishing device that integrates flame inspection, fire early warning, and start-up fire extinguishing. Based on the fire flame discrimination based on multi-feature information fusion, the fire situation can be found in time through regular inspection tours, and the fire warning can be released in time through the network. At the same time as the information, the airborne fire extinguisher is activated immediately to effectively extinguish the fire, and the fire is eliminated in the initial bud state, effectively avoiding the spread of the initial fire, ensuring timely detection of the fire, instant elimination of the initial small fire, and timely transmission of fire information.
8、采用四层智能慎思-反应体系结构：感知层、慎思层（智能决策层）、反应层（控制层）和执行层，整体系统采用基于物联网的分布式系统架构来部署设备，增强了系统的智能化程度和适用性，结合火情预警阈值能实现火灾的三级预警模式。8. Adopt a four-layer intelligent deliberation-response architecture: perception layer, deliberation layer (intelligent decision-making layer), reaction layer (control layer) and execution layer. The overall system adopts a distributed system architecture based on the Internet of Things to deploy equipment, which enhances The degree of intelligence and applicability of the system, combined with the fire warning threshold, can realize the three-level fire warning mode.
9、本预警灭火机器人旨在及时监测发现火情、即时反应消除火情、及时发送传输火情信息，尽可能将火灾消灭在萌芽状态，这是本发明所述预警灭火机器人的最大特点和优势，也是本发明区别于传统消防、灭火概念的最显著的标志。9. This early warning fire extinguishing robot is designed to monitor and discover fires in time, respond immediately to eliminate fires, send and transmit fire information in time, and eliminate fires in the bud as much as possible. This is the biggest feature and advantage of the early warning fire extinguishing robot described in the present invention , is also the most significant sign that the present invention is different from traditional fire fighting and fire extinguishing concepts.
10、本发明在火灾火焰检测识别、火源定位方面利用了温度、烟雾、火焰以及图像等信息的融合技术，提高了火灾判别准确度，误判率较低。10. The present invention utilizes fusion technology of information such as temperature, smoke, flame, and images in fire flame detection and recognition, and fire source location, which improves the fire discrimination accuracy and lowers the misjudgment rate.
附图说明Description of drawings
图1为预警灭火机器人总体结构示意图。Figure 1 is a schematic diagram of the overall structure of the early warning fire extinguishing robot.
图2为预警灭火机器人四层体系架构图。Figure 2 is a four-layer architecture diagram of the early warning fire fighting robot.
图3是预警灭火机器人硬件结构框图。Fig. 3 is a block diagram of the hardware structure of the early warning fire extinguishing robot.
图4为基于云台角度判断火焰目标示意图。Fig. 4 is a schematic diagram of judging the flame target based on the angle of the pan/tilt.
图5为手机报警系统技术选型示意图。Figure 5 is a schematic diagram of the technical selection of the mobile phone alarm system.
图6为短信报警子系统软件结构流程图。Figure 6 is a flowchart of the software structure of the SMS alarm subsystem.
具体实施方式detailed description
下面结合具体附图进一步说明本发明的技术解决方案，不能理解为是对技术方案的限制，在本技术方案的基础上的合理变化都属于本发明的保护范围。The technical solutions of the present invention will be further described below in conjunction with specific drawings, which should not be understood as limitations on the technical solutions, and reasonable changes on the basis of the technical solutions all fall within the scope of protection of the present invention.
如图1所示，该智能预警灭火机器人由轮式车上安装温度传感器、烟雾传感器、火焰传感器、云台摄像机、自由度机械手、灭火器、控制器构成，两自由度机械手环抱安装在灭火器侧，温度传感器、烟雾传感器、火焰传感器、云台摄像机、自由度机械手依电回路方式连接控制器。As shown in Figure 1, the intelligent early warning fire extinguishing robot is composed of a temperature sensor, a smoke sensor, a flame sensor, a pan-tilt camera, a manipulator with degrees of freedom, a fire extinguisher, and a controller installed on a wheeled vehicle. The manipulator with two degrees of freedom is surrounded by the fire extinguisher. The temperature sensor, smoke sensor, flame sensor, pan-tilt camera, and degree-of-freedom manipulator are connected to the controller in the form of an electric circuit.
如图2、3所示，本发明的预警灭火机器人包括以下各系统：As shown in Figures 2 and 3, the early warning fire extinguishing robot of the present invention includes the following systems:
1、火灾火焰巡回检测系统：包括轮式车及安装在其上的温度传感器、烟雾传感器、火焰传感器和CCD云台摄像机、红外测距传感器，利用这些传感器和数据信息融合来完成火灾火焰的准确识别、火源定位以及轮式车的实时避障；其中CCD云台摄像头支持WiFi无线传输，同时支持TCP/IP网络远程图像传输，并具有动态检测录像功能，负责实时完成火灾火焰图像采集，按照预先设置的转动范围（水平300度、垂直90度）定时扫描监控现场；1. Fire and flame tour detection system: including wheeled vehicles and temperature sensors, smoke sensors, flame sensors, CCD pan-tilt cameras, and infrared ranging sensors installed on them. These sensors and data information fusion are used to complete the accurate detection of fire flames. Identification, fire source location, and real-time obstacle avoidance of wheeled vehicles; among them, the CCD pan-tilt camera supports WiFi wireless transmission, and supports TCP/IP network remote image transmission, and has a dynamic detection and recording function, responsible for real-time completion of fire flame image acquisition, according to Pre-set rotation range (horizontal 300 degrees, vertical 90 degrees) regularly scans and monitors the site;
2、基于DSP的数据融合决策系统：以TI公司TMS320C6713为核心芯片，利用ARM系统所传送的火灾火焰温度、烟雾、图像、实时火焰等信息，利用智能信息处理技术实现火灾火焰的特征识别、信息融合、预警级别判断、智能决策等功能；2. DSP-based data fusion decision-making system: with TI's TMS320C6713 as the core chip, using the fire flame temperature, smoke, image, real-time flame and other information transmitted by the ARM system, using intelligent information processing technology to realize the feature recognition and information of the fire flame Fusion, early warning level judgment, intelligent decision-making and other functions;
3、基于局域网的火警数据无线传输系统：采用标准的Http协议，通过相应端口传输相关数据，利用该协议传输的优点是可以轻易的穿透防火墙和NAT，同时使用无连接Http协议可以降低带宽的占有量，通信传输的数据包结构体如下表所示，同时对传输中的报警数据进行DES对称加密处理，利用Base64进行加密，VC与Java通用，在接收端进行解密和校验，保证报警数据传输的安全性和完整性；3. Wireless transmission system of fire alarm data based on LAN: standard Http protocol is used to transmit relevant data through corresponding ports. The advantage of using this protocol transmission is that it can easily penetrate firewalls and NAT, and at the same time use connectionless Http protocol to reduce bandwidth. Occupancy, the data packet structure of communication transmission is shown in the following table, and at the same time, DES symmetric encryption is performed on the alarm data in transmission, and Base64 is used for encryption. VC and Java are common, and decryption and verification are performed at the receiving end to ensure that the alarm data Security and integrity of transmissions;
数据包结构表Data packet structure table
4、两自由度机械手灭火系统：将灭火器（干粉型）安装在一个两自由度平台上，利用图像跟踪技术，实时调整方位，并达到灭火器喷头对准火源中心，利用继电器开启灭火器，进而实现灭火；4. Two-degree-of-freedom manipulator fire extinguishing system: install the fire extinguisher (dry powder type) on a two-degree-of-freedom platform, use image tracking technology to adjust the orientation in real time, and achieve the goal of aligning the nozzle of the fire extinguisher with the center of the fire source, and use the relay to turn on the fire extinguisher, thereby realizing Extinguishing;
5、云台摄像机控制模块：云台摄像机用于实现对目标火焰的定位和跟踪，一旦有火灾火焰出现，首先通过云台摄像机检测到火焰发生的位置和方向，然后驱动机器人趋近火灾火焰，并启动机械手操作灭火器来完成灭火任务；采用的EVI-D100P彩色的CCD摄像机具有较大的视野范围，同时该摄像机还具有高速、在宽视场范围内旋转、倾斜运作，40倍变焦，快速稳定地自动变焦及自动曝光来控制背光补偿，适用于光线不好的条件下，它既可采用红外线控制变倍、聚焦、方位、亮度等，还可以从PC机由VISCATM规程进行RS-232串联控制，通讯协议同EVI-D30/EVI-D31；直接驱动马达使得摄像机各部分组件配合得体，实现云台的高速旋转；此外，EVI-D100P还具备有区别于其他摄像机产品的智能化特征：自动跟踪（AT）和移动探测（MD），自动跟踪方式在移动机器人目标跟踪中起着特别重要的作用，当场景中的物体与移动机器人发生相对移动时，自动跟踪系统通过控制器来限定一个摄像画面区域，该区域包含了此移动物体，然后在区域中找出颜色与该物体相似的像素，通过全景拍摄和转动功能控制云台，使摄像机自动跟随该移动物体；5. PTZ camera control module: The PTZ camera is used to locate and track the target flame. Once a fire flame appears, first detect the position and direction of the flame through the PTZ camera, and then drive the robot to approach the fire flame. And start the manipulator to operate the fire extinguisher to complete the fire extinguishing task; the EVI-D100P color CCD camera used has a large field of view, and the camera also has high speed, rotation and tilt operation in a wide field of view, 40 times zoom, fast and stable Automatic zoom and automatic exposure to control backlight compensation, suitable for poor light conditions, it can not only use infrared to control zoom, focus, orientation, brightness, etc., but also RS-232 serial control from PC by VISCATM , the communication protocol is the same as EVI-D30/EVI-D31; the direct drive motor makes each part of the camera fit properly and realizes the high-speed rotation of the pan/tilt; in addition, EVI-D100P also has an intelligent feature that is different from other camera products: automatic tracking (AT) and motion detection (MD), the automatic tracking method plays a particularly important role in the target tracking of the mobile robot. When the object in the scene moves relative to the mobile robot, the automatic tracking system uses the controller to limit a camera picture Area, the area contains the moving object, and then find the pixels in the area that are similar in color to the object, and control the pan-tilt through the panorama shooting and rotation functions, so that the camera automatically follows the moving object;
6、多传感器火灾信息融合模块：为了寻找实用的视频火灾火焰检测技术，增强视频火灾火焰检测方法的鲁棒性，同时提高探测率和降低误报率，在分析火灾火焰识别判别特征后，在D-S证据判决理论的基础上，采用卡尔曼加权融合算法相结合进行火灾火焰判断，但其中多次实验判决起到辅助求取权值作用，以消除单独一种或较少特征判决所产生的误判率高、受干扰影响大等问题；首先采集室内环境的火灾火焰数据样本，通过D-S证据判决理论和神经网络对样本数据进行训练获得四种火灾火焰特征的权值和阈值，进行归一化处理获得最终权值，然后利用多特征融合算法获得最终判决结果；在其他室外或复杂环境下，需要重新进行样本采集和神经网络的学习，确定更合适多特征融合权值。6. Multi-sensor fire information fusion module: In order to find a practical video fire flame detection technology, enhance the robustness of the video fire flame detection method, improve the detection rate and reduce the false alarm rate at the same time, after analyzing the characteristics of fire flame recognition and discrimination, in On the basis of the D-S evidence judgment theory, the Kalman weighted fusion algorithm is used to judge fire flames, but multiple experimental judgments play an auxiliary role in obtaining weights to eliminate errors caused by single or less feature judgments. High judgment rate, great interference, etc.; first collect fire flame data samples in the indoor environment, and use D-S evidence judgment theory and neural network to train the sample data to obtain the weights and thresholds of the four fire flame characteristics, and then normalize Process to obtain the final weight, and then use the multi-feature fusion algorithm to obtain the final judgment result; in other outdoor or complex environments, it is necessary to re-do sample collection and neural network learning to determine a more suitable multi-feature fusion weight.
7、火灾模糊推理的三级智能预警模块：预警系统采用三级预警模式，现场声光预警，远程短信息预警和网络预警；发生一级火情时，安装在被监测区的监测点内的声音报警器和警报灯负责实现现场声光预警，预警指令由监测点位控制模块自主下达；Android手机服务器通过JavaServlet实时访问预警数据库并在监测点发现二级火情时向指定责任人发送预警短消息以实现远程短信息预警，无线传输利用WiFi技术，预警数据的传输采用加密传输，确保数据的安全性；当火灾火焰检测系统传达的火情达到最高三级时，跳出报警窗口和图片，实现网络报警，并传送现场火灾实况；7. Three-level intelligent early warning module of fire fuzzy reasoning: the early warning system adopts three-level early warning mode, on-site sound and light early warning, remote short message early warning and network early warning; when a first-level fire occurs, the monitoring point installed in the monitored area The sound alarm and alarm lights are responsible for realizing the on-site sound and light early warning, and the early warning command is issued by the monitoring point control module independently; the Android mobile phone server accesses the early warning database in real time through JavaServlet and sends an early warning short message to the designated responsible person when a secondary fire is found at the monitoring point Message to realize remote short message early warning, wireless transmission uses WiFi technology, and early warning data transmission adopts encrypted transmission to ensure data security; when the fire situation conveyed by the fire flame detection system reaches the highest level three, the alarm window and pictures will pop up to realize Network alarm, and transmit live fire situation;
8、基于图像的火源识别定位模块：在云台跟踪目标火焰的过程中，实时的将自身转动的角度信息反馈给上位机，基于云台的角度信息计算目标火焰与移动机器人的相对位置，如图4所示，虚线位置表示云台摄像头在初始状态下的定位方向，h表示摄像机中心C点与地面之间的高度差，当云台摄像机搜索到目标火灾火焰p时，摄像机的光轴为cp，其中Φ是云台摄像机的仰俯角，其中Ψ表示表示横侧角，摄像机与目标点的距离；因为云台固定在移动机器人上，它的基坐标系与机器人坐标系的相对关系也是固定不变的，通过测量得到两坐标系之间的关系；8. Image-based fire source identification and positioning module: During the process of the gimbal tracking the target flame, it will feed back the angle information of its own rotation to the host computer in real time, and calculate the relative position of the target flame and the mobile robot based on the angle information of the gimbal. As shown in Figure 4, the position of the dotted line indicates the positioning direction of the PTZ camera in the initial state, h indicates the height difference between point C of the camera center and the ground, when the PTZ camera searches for the target fire flame p, the optical axis of the camera is cp, where Φ is the pitch angle of the PTZ camera, where Ψ represents the lateral angle, and the distance between the camera and the target point ;Because the gimbal is fixed on the mobile robot, the relative relationship between its base coordinate system and the robot coordinate system is also fixed, and the relationship between the two coordinate systems can be obtained through measurement;
9、基于测距和路径规划的实时避障模块：基于安装在移动机器人左右两侧和前方的红外传感器及激光测距传感器信号，机器人实时实现避障功能，并实现相应路径规划和导航；9. Real-time obstacle avoidance module based on ranging and path planning: Based on the infrared sensor and laser ranging sensor signals installed on the left, right and front of the mobile robot, the robot realizes the obstacle avoidance function in real time, and realizes the corresponding path planning and navigation;
10、基于WiFi的无线网络信息传输模块：由DSP系统经信息融合算法得到的火警信息需要即时发送到服务器和相关部门的责任人，需要利用WiFi技术的无线网络传输功能来实现，无线网络通信技术具有成本低廉、适应性好、扩展性好、维护容易等优势，在工业、石油、电力能源、机器人等领域得到广泛应用，无线网络传输模块主要由通信协议完成；10. WiFi-based wireless network information transmission module: The fire alarm information obtained by the DSP system through the information fusion algorithm needs to be sent to the server and the person in charge of the relevant department in real time, which needs to be realized by using the wireless network transmission function of WiFi technology. Wireless network communication technology It has the advantages of low cost, good adaptability, good scalability, and easy maintenance. It is widely used in the fields of industry, petroleum, electric energy, and robotics. The wireless network transmission module is mainly completed by the communication protocol;
11：基于Android技术的手机火灾预警信息传输模块：短信报警模块是室内的一个Android的手机服务器通过JavaServlet实时访问报警数据库，当检测到该区域内有火灾报警信息，则手机服务器自动将报警信息和位置发送到指定的负责人，通知负责人采取措施进行灭火；Android客户端应用使用Java技术，网络通信使用ApacheHTTP协议客户端，中间Web服务器采用Servlet响应客户请求；后台数据库采用数据库连接池访问数据库，客户端的一部分存储采用SQLite数据库，因为这里涉及到Android服务器与数据库服务器的数据同步问题，采用心跳机制解决，详细报警手机服务器的技术选型如图5所示；短信报警子系统运行平台为手机服务器，如图6所示，图中显示为手机报警子系统设置服务器数据库所在机器的IP地址，设置完成后，手机报警子系统开始启动；11: Mobile phone fire warning information transmission module based on Android technology: SMS alarm module is an indoor Android mobile phone server that accesses the alarm database in real time through JavaServlet. The location is sent to the designated person in charge, and the person in charge is notified to take measures to put out the fire; the Android client application uses Java technology, the network communication uses the ApacheHTTP protocol client, and the intermediate Web server uses Servlet to respond to customer requests; the background database uses a database connection pool to access the database, Part of the storage on the client side uses the SQLite database, because it involves the data synchronization between the Android server and the database server, which is solved by the heartbeat mechanism. The technical selection of the detailed alarm mobile phone server is shown in Figure 5; the operating platform of the SMS alarm subsystem is the mobile phone server , as shown in Figure 6, it is shown in the figure that the IP address of the machine where the server database is set for the mobile phone alarm subsystem, after the setting is completed, the mobile phone alarm subsystem begins to start;
12、声音报警子系统：当灭火机器人通过Timer定时访问远端报警数据库，若检测到室内空间的任一CCD摄像头所对应的报警数据库发生变化，则对应的室内空间产生火灾报警信息，机器人就会在第一时间产生声音报警，警示周围的人员有火灾险情，提示尽快撤离，同时机器人开始搜索灭火；声音报警子系统是在灭火机器人和检测终端同时具备，调用报警声音的VC运行代码；12. Sound alarm subsystem: When the fire extinguishing robot regularly accesses the remote alarm database through the Timer, if it detects that the alarm database corresponding to any CCD camera in the indoor space changes, the corresponding indoor space will generate fire alarm information, and the robot will Generate a sound alarm at the first time to warn people around that there is a fire danger, prompting to evacuate as soon as possible, and at the same time, the robot starts to search and put out the fire; the sound alarm subsystem is equipped with the fire extinguishing robot and the detection terminal at the same time, calling the VC running code of the alarm sound;
13、两自由度机器手灭火系统控制模块：利用图像信息完成火源目标的方位识别，及时控制两自由度平台，实现干粉灭火器的喷头准确对准火源中心，并即时开启灭火器完成灭火；13. The control module of the two-degree-of-freedom robot fire extinguishing system: use the image information to complete the orientation recognition of the fire source target, control the two-degree-of-freedom platform in time, realize the nozzle of the dry powder fire extinguisher accurately aligned with the center of the fire source, and immediately turn on the fire extinguisher to complete the fire extinguishing;
14、视频管理模块：采用通用视频管理模块，图像采集卡获得所述网络视频CCD摄像头的实时图像，用数字图像处理技术处理获得图像后，调用火灾火焰判别程序，给出是否有火情的判断结论，若是有火情给出火情级别的判断结论。14. Video management module: the general video management module is adopted, and the image acquisition card obtains the real-time image of the network video CCD camera, and after the image is processed by digital image processing technology, the fire flame discrimination program is invoked to give the judgment of whether there is a fire Conclusion, if there is a fire, the judgment conclusion of the fire level is given.
其中，本发明的火灾火焰数据融合的判别方法和实时预警阈值的获取方法包括以下步骤：Wherein, the discrimination method of fire flame data fusion of the present invention and the acquisition method of real-time warning threshold comprise the following steps:
步骤一：所述网络视频CCD摄像头完成现场成像，图像采集卡获得所述网络视频CCD摄像头传输过来的现场的数字图像，利用数字图像处理技术并对该数字图像进行预处理；Step 1: the network video CCD camera completes on-site imaging, and the image acquisition card obtains the digital image of the scene transmitted by the network video CCD camera, and uses digital image processing technology to preprocess the digital image;
步骤二：利用灰度域值化技术通过比较前后两帧图像的灰度域值的变化检测火灾火焰的运动特征；通过比较前后两帧图像火焰面积是否有增长检测火灾火焰的面积变化特征；HIS色彩空间内检测火焰颜色特征；通过提取火灾火焰的圆形度特征实现对环境自然光和日光灯亮度信息等背景干扰的区分；提取火灾火焰的尖角数目，利用火灾火焰的尖角数目随着燃烧时间呈现不规则变化的规律的特点将火灾火焰的尖角数目的变化作为火灾判据之一；火灾火焰燃烧初期的主频率在12Hz以内，而周围环境的变化对频率影响并不显著，因此提取火灾火焰的闪烁特征作为火灾判据之一；Step 2: Use the grayscale domain value technology to detect the motion characteristics of the fire flame by comparing the changes in the grayscale domain value of the two frames of images before and after; detect the area change characteristics of the fire flame by comparing whether the flame area of the two frames of images before and after has increased; HIS Detect flame color features in the color space; distinguish background interference such as ambient natural light and fluorescent lamp brightness information by extracting the circularity features of fire flames; extract the number of sharp corners of fire flames, and use the number of sharp corners of fire flames to increase with the burning time The characteristic of presenting irregular changes takes the change of the number of sharp angles of the fire flame as one of the fire criteria; the main frequency of the fire flame at the initial stage of combustion is within 12Hz, and the change of the surrounding environment has no significant influence on the frequency, so the fire flame is extracted Flame flicker characteristics as one of the fire criteria;
步骤三：采集监测点的火灾火焰数据样本，选用先行对所述监测点的火灾火焰数据样本进行训练获得包括火灾火焰颜色特征、火灾火焰的圆形度特征、火灾火焰的尖角数目和火灾火焰的闪烁频率特征这四种火灾火焰特征的权值和阈值；Step 3: collect the fire flame data samples of the monitoring points, and select the fire flame data samples of the monitoring points to train first to obtain the fire flame color characteristics, the circularity characteristics of the fire flames, the number of sharp corners of the fire flames and the fire flame The weights and thresholds of the four fire flame features of the flicker frequency feature;
步骤四：利用公式（1）得到火灾火焰预警阈值：Step 4: Use the formula (1) to get the fire flame warning threshold:
（1） (1)
式中：为第i个火灾火焰特征输出，，H0表示无火灾火焰，H1表示有火灾火焰；，mi（H0）和mi（H1）为第i个火灾火焰特征的检测概率和误判概率，利用上述所检测到的实时阈值与经验阈值比较来实现火灾火焰实时检测和预警。In the formula: is the i-th fire flame feature output, , H0 means there is no fire flame, H1 means there is fire flame; , mi (H0 ) andmi (H1 ) are the detection probability and misjudgment probability of the i-th fire flame feature, and the real-time detection and early warning of the fire flame are realized by comparing the detected real-time threshold with the empirical threshold.
本发明所述的智能预警灭火机器人，采用物联网的分布式系统架构来部署设备和系统，系统部署分为感知终端、数据采集分析层、决策层和终端应用平台（执行层）四个部分；感知终端包括通过云台安装在被监测区的监测点内的高分辨率CCD摄像机、温度、烟雾、测距、红外传感器、火焰检测传感器及声音报警器和警报灯；数据采集分析层包括各类传感器在内的信号采集分析装置，DSP系统，安装在计算机中的视频采集卡，Mysql数据库和Android手机服务器；终端应用平台包括移动机器人、两自由度摄像机平台和灭火器平台；还包括具有数据处理功能的、连接至因特网并拥有公网IP地址的计算机；CCD摄像机负责完成室内监测点内情景成像，图像采集卡采集CCD摄像机所成图像，通过视频管理模块对读取的数字图像依次进行预处理，各个特征提取，火灾火焰图像特征再结合温度、烟雾、火焰传感器等信息，利用多特征信息融合算法输出预警信号；根据火情大小采用三级预警模式，包括现场声光预警、远程短消息预警和网络预警；火灾初期，预警指令由监测点位控制模块自主下达或由监控中心下达，安装在被监测区的监测点内的声音报警器和警报灯负责实现现场声光预警，同时，预警灭火机器人启动干粉灭火器熄灭火情；也可以由位于监测点附近能听到警报声的责任人采用人工方式灭火；同时也启动远程短信预警模式，Android手机服务器通过JavaServlet实时访问预警数据库并在监测点发现火情时向指定责任人发送预警短消息，此时现场声光报警仍然有效；指定责任人到现场处置火情，根据现场火灾火焰预警系统实时监测结果，若火势蔓延程度到达一定经验阈值，则启动网络报警，跳出报警窗口和图片，同时传送远端视频信息，选择由监控中心的工作人员110报警或者系统自动110报警，动用公共消防设施灭火。The intelligent early warning fire extinguishing robot described in the present invention adopts the distributed system architecture of the Internet of Things to deploy equipment and systems, and the system deployment is divided into four parts: perception terminal, data collection and analysis layer, decision-making layer and terminal application platform (execution layer); The perception terminal includes high-resolution CCD cameras, temperature, smoke, ranging, infrared sensors, flame detection sensors, sound alarms and alarm lights installed in the monitoring points of the monitored area through the pan/tilt; the data collection and analysis layer includes various Signal acquisition and analysis device including sensors, DSP system, video acquisition card installed in computer, Mysql database and Android mobile phone server; terminal application platform includes mobile robot, two-degree-of-freedom camera platform and fire extinguisher platform; also includes data processing function A computer that is connected to the Internet and has a public network IP address; the CCD camera is responsible for completing the scene imaging in the indoor monitoring point, the image acquisition card collects the image formed by the CCD camera, and the read digital image is sequentially preprocessed through the video management module. Each feature is extracted, and the fire flame image features are combined with information such as temperature, smoke, and flame sensors, and the multi-feature information fusion algorithm is used to output early warning signals; according to the size of the fire, a three-level early warning mode is adopted, including on-site sound and light early warning, remote short message early warning and Network early warning; in the early stage of a fire, the early warning command is issued by the monitoring point control module independently or by the monitoring center. The sound alarm and alarm light installed in the monitoring point of the monitored area are responsible for realizing the on-site sound and light early warning. At the same time, the early warning fire extinguishing robot Start the dry powder fire extinguisher to extinguish the fire; the person in charge who can hear the alarm near the monitoring point can also use the manual method to extinguish the fire; at the same time, the remote SMS early warning mode is also activated, and the Android mobile phone server accesses the early warning database in real time through JavaServlet and finds fire at the monitoring point. In the event of an emergency, an early warning short message is sent to the designated responsible person. At this time, the on-site sound and light alarm is still valid; the designated responsible person goes to the scene to deal with the fire. According to the real-time monitoring results of the on-site fire and flame early warning system, if the fire spread reaches a certain experience threshold, the alarm will be activated. Network alarm, jump out of the alarm window and pictures, and transmit remote video information at the same time, choose 110 alarm by the staff of the monitoring center or automatic 110 alarm by the system, and use public fire-fighting facilities to extinguish the fire.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410565265.6ACN104299351B (en) | 2014-10-22 | 2014-10-22 | Intelligent early warning fire-extinguishing robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410565265.6ACN104299351B (en) | 2014-10-22 | 2014-10-22 | Intelligent early warning fire-extinguishing robot |
| Publication Number | Publication Date |
|---|---|
| CN104299351A CN104299351A (en) | 2015-01-21 |
| CN104299351Btrue CN104299351B (en) | 2016-06-15 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410565265.6AExpired - Fee RelatedCN104299351B (en) | 2014-10-22 | 2014-10-22 | Intelligent early warning fire-extinguishing robot |
| Country | Link |
|---|---|
| CN (1) | CN104299351B (en) |
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| CN102513987A (en)* | 2011-12-26 | 2012-06-27 | 浙江金刚汽车有限公司 | Intelligent fire-fighting rescue robot |
| CN103845834A (en)* | 2012-12-04 | 2014-06-11 | 青岛三利中德美水设备有限公司 | Fire rescue robot |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20160615 Termination date:20201022 |