CN104299351A - Intelligent early warning and fire extinguishing robot - Google Patents
Intelligent early warning and fire extinguishing robot Download PDFInfo
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Abstract
The invention discloses an intelligent early warning and fire extinguishing robot. The intelligent early warning and fire extinguishing robot is formed in the mode that a temperature sensor, a smoke sensor, a flame sensor, a pan-and-tilt camera, a two-freedom-degree mechanical arm, a fire extinguisher and a controller are installed on a wheel type vehicle, the two-freedom-degree mechanical arm is installed on the side of the fire extinguisher in a surrounding mode, and the temperature sensor, the smoke sensor, the flame sensor, the pan-and-tilt camera, the two-freedom-degree mechanical arm are connected with the controller in an electric loop mode. The intelligent early warning and fire extinguishing robot is high in anti-interference ability, good in space applicability, capable of monitoring fire flame videos of a tiny fire source at the beginning of a fire, high in fire early warning accurate and low in false alarm rate.
Description
Technical field
The invention belongs to public safety field, relate to fire disaster flame and detect early warning and Robot Extinguishing Fire system, be specifically related to a kind of intelligent early-warning firefighting robot of automatic detecting.
Background technology
Fire is violent as tiger! Fire is the major hidden danger threatening human survival, and along with the quickening of social development paces, especially in recent years, the fire taken place frequently causes great Loss of Life and property to people.According to statistics, China's breaking out of fire 125402 altogether in 2011, causes 1106 people dead, direct economic loss 19.8 hundred million yuan.The wildfire that in June, 2011, Shanghai occurred, causes 58 people dead, direct economic loss 1.58 hundred million yuan.Utilize modern high tech method find fire source in time and take effective fire protection to put out incipient flame in time, can greatly reduce various loss, firefighting robot is undoubtedly for we providing best selection.
There are why can create greater casualties accident and the heavy losses of property in most of fire, its main cause has: 1, the condition of a fire finds not in time, at some important places, as warehouse, laboratory, workshop etc. do not have the equipment of timing circling measurment flame, particularly easily cause the place such as the place of spontaneous combustion or the chemical workshop of fire-prone, if be not equipped with energy circling measurment equipment, just can not the Timeliness coverage condition of a fire, early stage little fire is caused to spread into big fire very soon, cause difficulty to fire extinguishing afterwards, so that breed disaster; Although 2, some has flame detecting device, as monitoring camera is first-class, due to the propagation delay of condition of a fire information, the initial stage that can not occur at fire takes effective fire suppression measures, also can cause great fire damage.
As everyone knows, put out a fire, first obtain fire detection, fire defector approximately experienced by the development course detected from temperature-sensitive detection → ionic smoke sensor detection → photoelectric smoke detection → air-sensitive detection → infrared detection → video.Be mainly used in indoor fire detection among a small circle as the temperature-sensitive of traditional fire detection, sense cigarette, air-sensitive class detector, have that space applicability is limited, information reliability is poor, be subject to the shortcomings such as external interference.And infrared eye is expensive, limit its usable range.Video detector is a kind of fire detector based on image processing techniques, utilize camera supervised monitoring point sight, by processing caught video information, analyze, and then realize the detection of fire disaster flame and the early warning of fire, antijamming capability is comparatively strong, and space applicability is strong.In video fire hazard early warning technology, fire disaster flame detection method is core, although domestic expert was carrying out certain research and development to video fire hazard flame detecting method in recent years, proven technique rarely had application, and corresponding product also seldom emerges.
Summary of the invention
The object of the invention is to: provide a kind of intelligent early-warning firefighting robot, antijamming capability is strong, and space applicability is good, and can monitor the fire disaster flame video of the trickle burning things which may cause a fire disaster of Initial Stage of Fire, fire alarm accuracy is high, and rate of false alarm is low.
Technical solution of the present invention is: this intelligent early-warning firefighting robot is made up of mounting temperature sensor, smoke transducer, flame sensor, monopod video camera, two-freedom mechanical arm, flame snuffer, controller on wheeled vehicle; Utilizing monopod video camera to clap fire disaster flame image, realizing the location of early warning firefighting robot to burning things which may cause a fire disaster by calculating; Flame snuffer is arranged on two-freedom mechanical arm platform, utilizes on mechanical arm and joins camera review to realize fire extinguisher nozzle aligning burning things which may cause a fire disaster, accurately complete fire extinguishing; Temperature sensor, smoke transducer, flame sensor, monopod video camera, two-freedom mechanical arm are according to electric circuit type connection control device.
During work, wheeled vehicle moves, by the place that temperature sensor, smoke transducer, flame sensor and monopod video camera circling measurment are to be detected, instant fire condition of a fire state is provided through multi-data fusion and intelligent analysis, the treatment and analysis of recycling picture signal obtains the concrete orientation of burning things which may cause a fire disaster, provide corresponding early warning signal according to the condition of a fire, and realize transmission and the transmission of early warning signal by wireless network, start Portable extinguisher by two-freedom mechanical arm simultaneously and put out a fire in real time.
Advantage of the present invention is:
1, compared with conventional fire detection system, early warning firefighting robot of the present invention can detect the discovery condition of a fire in time, the instant elimination initial stage condition of a fire, and transmission condition of a fire information, eliminates bud in the early stage by fire in time.
2, space applicability is strong, both may be used for the indoor fire monitoring among a small circle of warehouse, laboratory class and early warning, and also may be used for the monitoring of forest class large-range fire disaster and early warning.
3, adopt Internet video CCD camera to obtain monitoring point image, utilize digital image processing techniques to make early warning have higher antijamming capability and networked Characteristics, cost performance is higher compared with infrared fire hazard monitoring system.
4, carry out information fusion to the Static and dynamic feature of fire disaster flame, provide a kind of fire distinguished number of adjudicating based on neural network and D-S evidence, the early warning of energy Quick, False Rate is lower.
5, adopt three grades of fire disaster flame early warning, early warning intellectuality can be realized according to the real-time flame in scene, scientific and reasonable and in an orderly manner dispatch fire occur time manpower, financial resources.
6, early warning firefighting robot of the present invention is more intelligent than traditional firefighting robot, can avoid fire damage or be reduced to minimum by the heavy losses that fire may cause.
7, early warning firefighting robot be integrate flame circling measurment, intelligent extinguishing device that fire alarm, startup are put out a fire, the fire disaster flame merged based on multicharacteristic information differentiates, by timing circling measurment, the Timeliness coverage condition of a fire, and effectively fire extinguishing implemented by the airborne flame snuffer of OnNow while issuing fire alarm information in time by network, fire is eliminated bud in the early stage, effectively avoid spreading of initial fire disaster, ensure the Timeliness coverage condition of a fire, the instant elimination initial stage little condition of a fire, in time transmission condition of a fire information.
8, four layers of intelligence are adopted to think over-reaction system structure: sensing layer, layer of thinking over (intelligent decision layer), responding layer (key-course) and execution level, total system adopts and carrys out deployment facility based on the distributed system architecture of Internet of Things, enhance intelligence degree and the applicability of system, three grades of modes of warnings of fire can be realized in conjunction with condition of a fire threshold value of warning.
9, this early warning firefighting robot is intended to the condition of a fire of monitoring discovery in time, the condition of a fire is eliminated in immediate reaction, send transmission condition of a fire information in time, as far as possible fire is eliminated in bud, this is the maximum characteristics and advantages of early warning firefighting robot of the present invention, is also that the present invention is different from traditional fire-fighting, fire extinguishing the indicating the most significantly of concept.
10, the present invention detects the integration technology that make use of the information such as temperature, smog, flame and image in identification, burning things which may cause a fire disaster location at fire disaster flame, and improve fire and differentiate accuracy, False Rate is lower.
Accompanying drawing explanation
Fig. 1 is early warning firefighting robot general structure schematic diagram.
Fig. 2 is early warning firefighting robot four coating systems Organization Chart.
Fig. 3 is early warning firefighting robot hardware block diagram.
Fig. 4 judges flame object schematic diagram based on The Cloud Terrace angle.
Fig. 5 is mobile phone alarm system Technology Selection schematic diagram.
Fig. 6 is SMS alarm subsystem software structure flow chart.
Embodiment
Further illustrate technical solution of the present invention below in conjunction with concrete accompanying drawing, can not be interpreted as it is restriction to technical scheme, the reasonable change on the basis of the technical program all belongs to protection scope of the present invention.
As shown in Figure 1, this intelligent early-warning firefighting robot is made up of mounting temperature sensor, smoke transducer, flame sensor, monopod video camera, degree of freedom mechanical arm, flame snuffer, controller on wheeled vehicle, two-freedom mechanical arm is encircled and is arranged on flame snuffer side, and temperature sensor, smoke transducer, flame sensor, monopod video camera, degree of freedom mechanical arm are according to electric circuit type connection control device.
As shown in Figure 2,3, early warning firefighting robot of the present invention comprises following system:
1, fire disaster flame data logger system: comprise wheeled vehicle and temperature sensor mounted thereto, smoke transducer, flame sensor and CCD monopod video camera, infrared distance sensor, the Real Time Obstacle Avoiding of the accurate identification utilizing these sensors and data message to merge to have carried out fire disaster flame, burning things which may cause a fire disaster location and wheeled vehicle; Wherein CCD cradle head camera supports WiFi wireless transmission, support TCP/IP network remote image transmitting simultaneously, and there is detection of dynamic recording function, be responsible for completing fire disaster flame image acquisition in real time, according to the slewing area pre-set (level 300 degree, vertical 90 degree) timing scan monitoring site;
2, based on the data fusion decision system of DSP: with TI company's T MS320C6713 for acp chip, the information such as the fire disaster flame temperature utilizing ARM system to transmit, smog, image, in real time flame, utilize intelligent information processing technology to realize the function such as feature identification, information fusion, warning level judgement, intelligent decision of fire disaster flame;
3, based on the fire alarm data radio transmission system of LAN (Local Area Network): the Http agreement adopting standard, related data is transmitted by corresponding port, the advantage of this protocol transmission is utilized to be can firewall-penetrating and NAT easily, use the occupancy volume that can reduce bandwidth without connection Http agreement simultaneously, the packet structure body of communications is as shown in the table, the process of DES symmetric cryptography is carried out to the alert data in transmission simultaneously, Base64 is utilized to be encrypted, VC and Java is general, be decrypted at receiving end and verify, ensure security and the integrality of alert data transmission;
Packet structure table
| Type | Title | Explanation |
| Time_t | Create_time | Send packet time |
| Comm._addr | dest_addr, src_addr | Source address and destination address |
| Short | Priority | Data transport priority |
| Short | Len | Data packet length |
| Short | Type | Transmission data program class |
| Short | Sub_type | Transmit data functionality class |
| Char | Buf[MAX_MESSAGE_BUF_LEN] | Detailed data information |
4, two-freedom mechanical arm fire extinguishing system: flame snuffer (dry-type) is arranged on a two-freedom platform, utilize image trace technology, adjust orientation in real time, and reach nozzle of fire extinguisher aligning fire's point of origin, utilize relay to open flame snuffer, and then realize fire extinguishing;
5, monopod video camera control module: monopod video camera is for realizing location to target flame and tracking, once there be fire disaster flame to occur, first the position that flame occurs and direction is detected by monopod video camera, then drive machines people convergence fire disaster flame, and start Robot actions flame snuffer to complete fire extinguishing task, the ccd video camera of the EVI-D100P colour adopted has larger field range, this video camera also has high speed, rotates within the scope of wide visual field, tilts to operate simultaneously, 40 times of zooms, fast and stable ground autozoom and automatic exposure control backlight compensation, under being applicable to the bad condition of light, it both can adopt infrared control zoom, focusing, orientation, brightness etc., can also carry out RS-232 series connection and control, the same EVI-D30/EVI-D31 of communications protocol from PC by VISCATM code, it is proper that direct drive motor makes video camera each several part assembly coordinate, and realizes the High Rotation Speed of The Cloud Terrace, in addition, EVI-D100P also has the intelligent feature being different from other video camera products: from motion tracking (AT) and mobile detection (MD), autotrack mode plays a part particular importance in mobile robot's target following, when there is relative movement in the object in scene and mobile robot, automatic tracking system limits a camera picture region by controller, this region contains this mobile object, then the color pixel similar to this object is found out in the zone, The Cloud Terrace is controlled by pan-shot and rotating function, video camera is made automatically to follow this mobile object,
6, multisensor fire information Fusion Module: in order to find practical video fire hazard fire defector technology, the robustness of augmented video fire disaster flame detection method, improve detectivity simultaneously and reduce rate of false alarm, after the identification of analysis fire disaster flame differentiates feature, on the basis of D-S evidence decision theory, adopt Kalman's Weighted Fusion algorithm to combine and carry out fire disaster flame judgement, but wherein many experiments judgement is played and auxiliary is asked for weights effect, with eliminate a kind of or less feature separately adjudicate the False Rate produced high, be disturbed and affect the problems such as large; First the fire disaster flame data sample of indoor environment is gathered, by D-S evidence decision theory and neural network, the weights and threshold of training acquisition four kinds of fire disaster flame features is carried out to sample data, be normalized and obtain final weights, then utilize multiple features fusion algorithm to obtain final judging result; Under other outdoors or complex environment, need the study re-starting sample collection and neural network, determine more suitable multiple features fusion weights.
7, three grades of intelligent early-warning modules of fire fuzzy reasoning: early warning system adopts three grades of modes of warnings, on-the-spot acousto-optic early warning, remote short messages breath early warning and Network Warning; When there is the one-level condition of a fire, be arranged on voice guard in the monitoring point in monitored district and warning light is responsible for realizing on-the-spot acousto-optic early warning, alarm command is independently assigned by monitoring site control module; Android phone server sends early warning short message to realize the early warning of remote short messages breath to appointment person liable when finding the secondary condition of a fire by Java Servlet real time access warning data storehouse and in monitoring point, wireless transmission utilizes WiFi technology, the transmission of warning data adopts encrypted transmission, guarantees the security of data; When the condition of a fire that fire disaster flame detection system is passed on reaches the highest three grades, jump out warning window and picture, realize network alarming, and it is live to transmit on-the-spot fire;
8, based on the burning things which may cause a fire disaster identification locating module of image: in the process of The Cloud Terrace tracking target flame, real-time feeds back to host computer by the angle information of own rotation, angle information based on The Cloud Terrace calculates the relative position of target flame and mobile robot, as shown in Figure 4, dotted line position represents cradle head camera orientation in an initial condition, and h represents the difference in height between video camera center C point and ground, when monopod video camera searches target fire disaster flame p, the optical axis of video camera is cp, wherein
Φthe pitch angle of monopod video camera, wherein
Ψrepresent horizontal side angle, the distance of video camera and impact point
; Because The Cloud Terrace is fixed on mobile robot, its basis coordinates system and the relativeness of robot coordinate system are also changeless, by measuring the relation obtained between Two coordinate system;
9, based on range finding and the Real Time Obstacle Avoiding module of path planning: based on the infrared sensor and the laser range sensor signal that are arranged on the mobile robot left and right sides and front, robot real-time implementation barrier avoiding function, and realize respective paths planning and navigation;
10, based on the radio network information transport module of WiFi: need through the fire alarm information that information fusion algorithm obtains the person liable being immediately sent to server and relevant departments by dsp system, the wireless network transmissions function utilizing WiFi technology is needed to realize, wireless network communication technique has with low cost, the advantage such as adaptability good, favorable expandability, maintenance are easy, be used widely in fields such as industry, oil, electric power energy, robots, wireless network transmission module completes primarily of communication protocol;
11: the mobile phone fire alarm information transmission modular based on Android technology: short message alarm module is that the handset server of an Android of indoor is by Java Servlet real time access alarm database, when detecting in this region have fire alarm information, then warning message and position are sent to the responsible official specified by handset server automatically, notify that responsible official takes measures to put out a fire; Android client application uses Java technology, and network service uses Apache http protocol client, and middle Web server adopts the request of Servlet customer in response; Background data base adopts database connection pool accessing database, a part for client stores and adopts SQLite database, because relate to the data synchronization problems of Android server and database server here, employing heartbeat mechanism solves, and the Technology Selection of detailed alarm mobile phone server as shown in Figure 5; SMS alarm subsystem operation platform is handset server, as shown in Figure 6, is shown as the IP address that mobile phone alarm subsystem arranges server database place machine in figure, and after being provided with, mobile phone alarm subsystem starts to start;
12,
audible alarm subsystem:when firefighting robot is by Timer timer access remote-end alarm database, if detect, the alarm database corresponding to arbitrary CCD camera of the interior space changes, the then corresponding interior space produces fire alarm information, robot will produce audible alarm in the very first time, warning personnel around have fire dangerous situation, prompting is withdrawn as early as possible, and robot starts search fire extinguishing simultaneously; Simultaneously audible alarm subsystem possesses at firefighting robot and sense terminals, calls the VC operation code of alarm sound;
13, two-freedom mechanical hand fire extinguishing system control module: utilize image information to complete the orientation recognition of burning things which may cause a fire disaster target, control two-freedom platform in time, the shower nozzle realizing dry-chemical extinguisher accurately aims at fire's point of origin, and instant flame snuffer of opening completes fire extinguishing;
14, video management module: adopt generic video administration module, image pick-up card obtains the realtime graphic of described Internet video CCD camera, after obtaining image with digital image processing techniques process, call fire disaster flame discriminating program, provide the judgement conclusion whether having the condition of a fire, if there is the condition of a fire to provide the judgement conclusion of condition of a fire rank.
Wherein, the method for discrimination of fire disaster flame data fusion of the present invention and the acquisition methods of real-time early warning threshold value comprise the following steps:
Step one: described Internet video CCD camera completes field imaging, image pick-up card obtains the digital picture at the scene that described Internet video CCD thecamera head is come, and utilizes digital image processing techniques and carries out pre-service to this digital picture;
Step 2: utilize gray scale thresholding technology by comparing the motion feature of the change detection of fires flame of the gray scale thresholding of front and back two two field picture; The area change feature of growth detection fire disaster flame whether is had by comparing front and back two two field picture flame area; Flame detection color characteristic in HIS color space; The differentiation to background interference such as naturally light and daylight lamp monochrome informations is realized by the circularity feature extracting fire disaster flame; Extract the wedge angle number of fire disaster flame, utilize the wedge angle number of fire disaster flame along with the feature presenting irregular rule burning time using the change of the wedge angle number of fire disaster flame as one of Fire Criterion; The predominant frequency at fire disaster flame burning initial stage is within 12Hz, and the change of surrounding environment is not remarkable to frequency influence, therefore extracts the blinking characteristics of fire disaster flame as one of Fire Criterion;
Step 3: the fire disaster flame data sample gathering monitoring point, selects and carries out training the weights and threshold obtaining and comprise these four kinds of fire disaster flame features of flicker frequency feature of fire disaster flame color characteristic, the circularity feature of fire disaster flame, the wedge angle number of fire disaster flame and fire disaster flame to the fire disaster flame data sample of described monitoring point in advance;
Step 4: utilize formula (1) to obtain fire disaster flame threshold value of warning:
（1）
In formula:
be
iindividual fire disaster flame feature exports,
,
h 0indicate without fire disaster flame,
h 1indicate fire disaster flame;
,
m i (H
0) and
m i (
h 1) be
ithe detection probability of individual fire disaster flame feature and probability of miscarriage of justice, utilize above-mentioned detected real time threshold to compare with empirical value to realize fire disaster flame and detect in real time and early warning.
Intelligent early-warning firefighting robot of the present invention, adopts the distributed system architecture of Internet of Things to come deployment facility and system, and system is disposed and is divided into perception terminal, data collection and analysis layer, decision-making level and terminal application platform (execution level) four parts; Perception terminal comprises the high resolution CCD video camera be arranged on by The Cloud Terrace in the monitoring point in monitored district, temperature, smog, range finding, infrared sensor, flame detection sensor and voice guard and warning light; Data collection and analysis layer comprises the signal processing and analysis device of various kinds of sensors, dsp system, installs video frequency collection card in a computer, Mysql database and Android phone server; Terminal application platform comprises mobile robot, two-freedom Camera Platform and flame snuffer platform; Also comprise have data processing function, be connected to the Internet and have the computing machine of public network IP address; Ccd video camera has been responsible for sight imaging in indoor monitoring point, image pick-up card gathers image that ccd video camera becomes, by video management module, successively pre-service is carried out to the digital picture read, each feature extraction, fire disaster flame characteristics of image, again in conjunction with information such as temperature, smog, flame sensors, utilizes multicharacteristic information blending algorithm to export early warning signal; Adopt three grades of modes of warnings according to condition of a fire size, comprise on-the-spot acousto-optic early warning, long-range short message early warning and Network Warning; Initial Stage of Fire, alarm command is independently assigned by monitoring site control module or is assigned by Surveillance center, be arranged on voice guard in the monitoring point in monitored district and warning light is responsible for realizing on-the-spot acousto-optic early warning, meanwhile, early warning firefighting robot starts dry-chemical extinguisher and extinguishes the condition of a fire; Also can hear that the person liable of alarm song adopts manual type to put out a fire by being positioned near monitoring point; Also start remote short messages modes of warning, send early warning short message to appointment person liable Android phone server finds the condition of a fire during by Java Servlet real time access warning data storehouse and in monitoring point, now on-the-spot sound and light alarm is still effective simultaneously; Specify person liable to the site disposal condition of a fire, according to on-the-spot fire disaster flame early warning system Real-Time Monitoring result, if fire spreading degree arrives certain experiences threshold value, then start network alarming, jump out warning window and picture, transmit far-end video information simultaneously, select to be reported to the police by the staff 110 of Surveillance center or automatic 110 warnings of system, employ the fire extinguishing of public fire protection facility.
Claims (3)
1. intelligent early-warning firefighting robot, it is characterized in that: it is made up of mounting temperature sensor, smoke transducer, flame sensor, monopod video camera, degree of freedom mechanical arm, flame snuffer, controller on wheeled vehicle, two-freedom mechanical arm is encircled and is arranged on flame snuffer side, and temperature sensor, smoke transducer, flame sensor, monopod video camera, degree of freedom mechanical arm are according to electric circuit type connection control device.
2. intelligent early-warning firefighting robot according to claim 1, is characterized in that this early warning firefighting robot comprises following system:
(1) fire disaster flame data logger system: comprise wheeled vehicle and temperature sensor mounted thereto, smoke transducer, flame sensor and CCD monopod video camera, infrared distance sensor, the Real Time Obstacle Avoiding of the accurate identification utilizing these sensors and data message to merge to have carried out fire disaster flame, burning things which may cause a fire disaster location and wheeled vehicle; Wherein CCD cradle head camera supports WiFi wireless transmission, support TCP/IP network remote image transmitting simultaneously, and there is detection of dynamic recording function, be responsible for completing fire disaster flame image acquisition in real time, according to the slewing area pre-set (level 300 degree, vertical 90 degree) timing scan monitoring site;
(2) based on the data fusion decision system of DSP: with TI company's T MS320C6713 for acp chip, the information such as the fire disaster flame temperature utilizing ARM system to transmit, smog, image, in real time flame, utilize intelligent information processing technology to realize the function such as feature identification, information fusion, warning level judgement, intelligent decision of fire disaster flame;
(3) based on the fire alarm data radio transmission system of LAN (Local Area Network): the Http agreement adopting standard, related data is transmitted by corresponding port, utilize advantage firewall-penetrating and the NAT easily of this protocol transmission, use the occupancy volume without connecting Http agreement reduction bandwidth simultaneously, the process of DES symmetric cryptography is carried out to the alert data in transmission, utilize Base64 to be encrypted, VC and Java is general, is decrypted at receiving end and verifies;
(4) two-freedom mechanical arm fire extinguishing system: dry powder type fire extinguisher is arranged on a two-freedom platform, utilize image trace technology, adjust orientation in real time, and reach nozzle of fire extinguisher aligning fire's point of origin, utilize relay to open flame snuffer, and then realize fire extinguishing;
(5) monopod video camera control module: monopod video camera is for realizing location to target flame and tracking, once there be fire disaster flame to occur, first the position that flame occurs and direction is detected by monopod video camera, then drive machines people convergence fire disaster flame, and start Robot actions flame snuffer to complete fire extinguishing task; Adopt the ccd video camera of EVI-D100P colour, carry out RS-232 series connection from PC by VISCATM code and control, the same EVI-D30/EVI-D31 of communications protocol;
(6) multisensor fire information Fusion Module: after the identification of analysis fire disaster flame differentiates feature, on the basis of D-S evidence decision theory, adopts Kalman's Weighted Fusion algorithm to combine and carries out fire disaster flame judgement; First the fire disaster flame data sample of indoor environment is gathered, by D-S evidence decision theory and neural network, the weights and threshold of training acquisition four kinds of fire disaster flame features is carried out to sample data, be normalized and obtain final weights, then utilize multiple features fusion algorithm to obtain final judging result; Under other outdoors or complex environment, need the study re-starting sample collection and neural network, determine more suitable multiple features fusion weights;
(7) three grades of intelligent early-warning modules of fire fuzzy reasoning: early warning system adopts three grades of modes of warnings, on-the-spot acousto-optic early warning, remote short messages breath early warning and Network Warning; When there is the one-level condition of a fire, be arranged on voice guard in the monitoring point in monitored district and warning light is responsible for realizing on-the-spot acousto-optic early warning, alarm command is independently assigned by monitoring site control module; Android phone server sends early warning short message to realize the early warning of remote short messages breath to appointment person liable when finding the secondary condition of a fire by Java Servlet real time access warning data storehouse and in monitoring point, wireless transmission utilizes WiFi technology, the transmission of warning data adopts encrypted transmission, guarantees the security of data; When the condition of a fire that fire disaster flame detection system is passed on reaches the highest three grades, jump out warning window and picture, realize network alarming, and it is live to transmit on-the-spot fire;
(8) based on the burning things which may cause a fire disaster identification locating module of image: in the process of The Cloud Terrace tracking target flame, real-time feeds back to host computer by the angle information of own rotation, and the angle information based on The Cloud Terrace calculates the relative position of target flame and mobile robot;
(9) based on range finding and the Real Time Obstacle Avoiding module of path planning: based on the infrared sensor and the laser range sensor signal that are arranged on the mobile robot left and right sides and front, robot real-time implementation barrier avoiding function, and realize respective paths planning and navigate;
(10) based on the radio network information transport module of WiFi: need through the fire alarm information that information fusion algorithm obtains the person liable being immediately sent to server and relevant departments by dsp system, utilize the wireless network transmissions function of WiFi technology to realize, wireless network transmission module completes primarily of communication protocol;
(11) based on the mobile phone fire alarm information transmission modular of Android technology: short message alarm module is that the handset server of an Android of indoor is by Java Servlet real time access alarm database, when detecting in this region have fire alarm information, then warning message and position are sent to the responsible official specified by handset server automatically, notify that responsible official takes measures to put out a fire; Android client application uses Java technology, and network service uses Apache http protocol client, and middle Web server adopts the request of Servlet customer in response; Background data base adopts database connection pool accessing database, and a part for client stores and adopts SQLite database;
(12)
audible alarm subsystem:when firefighting robot is by Timer timer access remote-end alarm database, if detect, the alarm database corresponding to arbitrary CCD camera of the interior space changes, the then corresponding interior space produces fire alarm information, robot will produce audible alarm in the very first time, warning personnel around have fire dangerous situation, prompting is withdrawn as early as possible, and robot starts search fire extinguishing simultaneously; Simultaneously audible alarm subsystem possesses at firefighting robot and sense terminals, calls the VC operation code of alarm sound;
(13) two-freedom mechanical hand fire extinguishing system control module: utilize image information to complete the orientation recognition of burning things which may cause a fire disaster target, control two-freedom platform in time, the shower nozzle realizing dry-chemical extinguisher accurately aims at fire's point of origin, and instant flame snuffer of opening completes fire extinguishing;
(14) video management module: adopt generic video administration module, image pick-up card obtains the realtime graphic of described Internet video CCD camera, after obtaining image with digital image processing techniques process, call fire disaster flame discriminating program, provide the judgement conclusion whether having the condition of a fire, if there is the condition of a fire to provide the judgement conclusion of condition of a fire rank.
3. intelligent early-warning firefighting robot according to claim 2, is characterized in that the method for discrimination of fire disaster flame data fusion and the acquisition methods of real-time early warning threshold value comprise the following steps:
Step one: described Internet video CCD camera completes field imaging, image pick-up card obtains the digital picture at the scene that described Internet video CCD thecamera head is come, and utilizes digital image processing techniques and carries out pre-service to this digital picture;
Step 2: utilize gray scale thresholding technology by comparing the motion feature of the change detection of fires flame of the gray scale thresholding of front and back two two field picture; The area change feature of growth detection fire disaster flame whether is had by comparing front and back two two field picture flame area; Flame detection color characteristic in HIS color space; The differentiation to background interference such as naturally light and daylight lamp monochrome informations is realized by the circularity feature extracting fire disaster flame; Extract the wedge angle number of fire disaster flame, utilize the wedge angle number of fire disaster flame along with the feature presenting irregular rule burning time using the change of the wedge angle number of fire disaster flame as one of Fire Criterion; The predominant frequency at fire disaster flame burning initial stage, within 12Hz, therefore extracts the blinking characteristics of fire disaster flame as one of Fire Criterion;
Step 3: the fire disaster flame data sample gathering monitoring point, selects and carries out training the weights and threshold obtaining and comprise these four kinds of fire disaster flame features of flicker frequency feature of fire disaster flame color characteristic, the circularity feature of fire disaster flame, the wedge angle number of fire disaster flame and fire disaster flame to the fire disaster flame data sample of described monitoring point in advance;
Step 4: utilize formula (1) to obtain fire disaster flame threshold value of warning:
（1）
In formula:
be
iindividual fire disaster flame feature exports,
,
h 0indicate without fire disaster flame,
h 1indicate fire disaster flame;
,
m i (H
0) and
m i (
h 1) be
ithe detection probability of individual fire disaster flame feature and probability of miscarriage of justice, utilize above-mentioned detected real time threshold to compare with empirical value to realize fire disaster flame and detect in real time and early warning.
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