CN109360370A - A method of it is detected based on robot pyrotechnics - Google Patents
A method of it is detected based on robot pyrotechnics Download PDFInfo
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- CN109360370A CN109360370A CN201811457817.6A CN201811457817A CN109360370A CN 109360370 A CN109360370 A CN 109360370A CN 201811457817 A CN201811457817 A CN 201811457817A CN 109360370 A CN109360370 A CN 109360370A
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- 238000001514 detection method Methods 0.000 claims abstract description 27
- 238000004458 analytical method Methods 0.000 claims abstract description 7
- 238000001931 thermography Methods 0.000 claims description 11
- 230000003542 behavioural effect Effects 0.000 claims description 8
- 230000006870 function Effects 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000012545 processing Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 235000019504 cigarettes Nutrition 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000010259 detection of temperature stimulus Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/12—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/12—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions
- G08B17/125—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions by using a video camera to detect fire or smoke
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Abstract
The invention belongs to robotic technology fields, more particularly to a kind of method based on the detection of robot pyrotechnics, applied to mobile robot, remote pyrotechnics detection can be achieved by infrared temperature detection, analysis, which is captured, by the picture of pyrotechnics detection algorithm and visible image capturing head based on infrared temperature carries out joint judgement, it can be achieved that without wrong report and low drain report.Pyrotechnics detection is carried out by robot, is able to achieve trans-regional dynamic pyrotechnics detection.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a method of it is detected based on robot pyrotechnics.
Background technique
With the rapid development of social economy, urbanization process is accelerated, and high-rise, underground and petrochemical industry building emerge in multitude.Building
High stratification, the complication of structure bring new challenge to structural fire protection.How rapidly and accurately to judge whether fire occurs
Calamity guarantees property and life security is the important topic of fire-fighting work to handle in time.It generallys use in the prior art following
Scheme: 1. sensor methods: detecting gas concentration when pyrotechnics by pyrotechnics sensor, to detect that pyrotechnics occurs；
2. video analysis method: carrying out color analysis by the video that visible image capturing head is shot, while dynamic detection algorithm is added to sentence
It is disconnected whether pyrotechnics to occur.The shortcomings that prior art: 1) sensor method: there are many sensors of form can detect pyrotechnics, but
It is limited all to there is application space, vulnerable to interference, rate of false alarm is high, and degree of intelligence is low, is not suitable for the disadvantages of detecting under severe conditions.2)
Video analysis method: it is analyzed by video merely, is judged by the dynamic of color and pyrotechnics, there are certain wrong reports
Rate can not be judged, so as to cause leakage when the distance that pyrotechnics occurs is distant since the pixel of pyrotechnics on video is smaller
The phenomenon that report.
Summary of the invention
In order to solve technological deficiency existing in the prior art, the invention proposes a kind of based on the detection of robot pyrotechnics
Method can be achieved remote pyrotechnics by infrared temperature detection and detect, by pyrotechnics detection algorithm based on infrared temperature and
The picture of visible image capturing head captures analysis and carries out joint judgement, it can be achieved that without wrong report and low drain report.
The invention is realized by the following technical scheme:
A method of it is detected based on robot pyrotechnics, is applied to mobile robot, includes the following steps:
S1: the temperature data of a frame is obtained；
S2: temperature data is carried out to simplify processing；
S3: the area of the high temperature block number and high temperature block in image is extracted；
S4: interpretation of result is carried out to pyrotechnics temperature characterisitic, judges whether that there may be pyrotechnics alarms；
S5: carrying out behavioral characteristics detection, judges whether there is behavioral characteristics, excludes wrong report caused by high-temperature service；
S6: the analysis of pyrotechnics color characteristics further determines whether that there are pyrotechnics characteristics；
S7: pyrotechnics assessment and alarm are carried out in conjunction with the testing result of step S4, S5, S6, is then thought when being all satisfied situation
The case where there are pyrotechnics alarms.
It further, in the step S1, further comprise that the temperature is obtained by infrared thermal imaging camera
Data set the resolution ratio of infrared thermal imaging camera as X*Y, the temperature number of a frame are obtained by infrared thermal imaging camera
According to i.e. X*Y temperature data can indicate the temperature data of a frame with a two-dimensional array T [X] [Y].
Further, in the step S2, further comprise, to the temperature data of the two-dimensional array T [X] [Y]
Simplified, obtains simplified two-dimensional array data t [X] [Y].
It further, in the step S3, further comprise being obtained in two-dimensional array t [X] [Y] by recursive algorithm
Be adjacent to up and down 1 block number and every piece in 1 number.
Further, which is characterized in that the calculation formula of the recursive algorithm are as follows:
Wherein, area (i) (j) is the function of recursive algorithm, and i, j are parameter, and 0≤i < X, 0≤j < Y, B are entire two dimension
1 block number, the number that N is in every piece 1 are adjacent in array t [X] [Y] up and down.
It further, in the step S4, further comprise being sentenced for the first time according to calculated block number B and number N
Disconnected, judge whether that there may be pyrotechnics alarms: the total N for being adjacent in 1 block 1 may be considered the number of pixel, the range of N
For 0 < N < X*Y, a threshold value F is set here, works as satisfactionWhen this condition, it is believed that may occur
Pyrotechnics.
Further, in the step S5, further comprise, when pyrotechnics may be occurred by determining in step S4, such as
Fruit current robot is moving, then stops robot, then repeatedly step S1~S4, gets multiple N value: N1、N2、
N3、...Nm, wherein m is number, when meeting following formula, it is believed that and there are behavioral characteristics,
It further, in the step S6, further comprise that a picture data are extracted by visible image capturing head,
It is converted into rgb format, the characteristic of pyrotechnics color is judged whether there is by the characteristic of RGB.
Further, the pyrotechnics color is divided into red and yellow,
Red Rule of judgment are as follows: (R-G > diff_R) && (R-B > diff_R), i.e. R component are greater than with G, B component difference
Specific threshold value；
The Rule of judgment of yellow are as follows: B > 128&G > 128& (R-B) > diff_Y& (G-B) > diff_Y, i.e. B component and G component
Greater than 128, and the difference of B component and R, G component is greater than specific threshold value.
The invention also includes a kind of non-volatile memory mediums comprising one or more computer instruction, described one
Or a plurality of computer instruction realizes above-mentioned firework detecting method when being executed.
Compared with prior art, the present invention at least has the following beneficial effects or advantage:
1, fire source more smaller than pyrotechnics, such as cigarette butt be can detecte out；
2, the wrong report situation for the appearance for being based only on visible light video detection can be excluded completely by the Characteristics Detection of temperature；
3, pyrotechnics detection is carried out by robot, is able to achieve trans-regional dynamic pyrotechnics detection.
Detailed description of the invention
The present invention is described in further details below with reference to attached drawing；
Fig. 1 is the method flow diagram of the invention based on the detection of robot pyrotechnics；
Fig. 2 is the simplification figure of temperature data of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
This programme is applied to mobile robot, and infrared thermal imaging camera is provided in mobile robot and visible light is high
Clear camera.
Method of the present invention based on the detection of robot pyrotechnics, method flow is as described in Figure 1, and steps are as follows:
Step1: the temperature data of a frame is obtained by infrared thermal imaging camera
Infrared thermal imaging camera can get the temperature of each pixel, set infrared thermal imaging camera in this programme
Resolution ratio be X*Y, the temperature data of a frame is obtained by infrared thermal imaging camera, i.e. X*Y temperature data can use one
A two-dimensional array T [X] [Y] indicates the temperature data of a frame.
Step2: the temperature data of two-dimensional array T [X] [Y] is simplified
The temperature of fire is usually 300 degrees Celsius or more, is carried out here to the temperature data of two-dimensional array T [X] [Y] with 300
Compare, as shown in Fig. 2, being indicated if it is greater than 300 with 1, is indicated if it is less than 300 with 0.It will be seen from figure 1 that by pair
Temperature data carries out simplifying the two-dimensional array data for obtaining t [X] [Y].
Step3: it extracts the high temperature block number in image: being adjacent to 1 block number in acquisition two-dimensional array t [X] [Y] up and down
And in every piece 1 number
Middle recursive algorithm according to the following formula carries out recurrence judgement to two-dimensional array t [X] [Y], can obtain two-dimensional array t [X]
Be adjacent to up and down in [Y] 1 block number (indicating block number with B) and every piece in 1 number (indicating number with N).
Wherein, area (i) (j) is the function of recursive algorithm, and i, j are parameter, and 0≤i < X, 0≤j < Y, B are entire two dimension
1 block number, the number that N is in every piece 1 are adjacent in array t [X] [Y] up and down.
Step4: being judged for the first time according to calculated block number B and number N, judges whether that there may be pyrotechnics alarms
The total N for being adjacent in 1 block 1 may be considered the number of pixel, and the range of N is 0 < N < X*Y, is set here
One threshold value F, works as satisfactionWhen this condition, it is believed that pyrotechnics may occur.
Wherein, the value of threshold value F is smaller, then detects that the distance of pyrotechnics is remoter.
Step5: carrying out behavioral characteristics detection, excludes wrong report caused by the equipment of those high temperature
When pyrotechnics may be occurred by determining in Step4, if current robot is moving, stop robot, then
The step of repeating Step1~Step4, gets multiple N value, such as N1、N2、N3、...Nm, wherein m is number, following when meeting
When formula, it is believed that there are behavioral characteristics.
Formula expression above averages to the N value repeatedly got, then with the N that obtains for the first time1Value is compared, if
Variation is more than 20%, then it is assumed that there are the features of dynamic change.Since flame is dynamic change, so obtaining a frame number every time
According to N value can all change it is bigger, if the N value repeatedly got is almost unchanged, it may be considered that not instead of pyrotechnics, high temperature
Equipment.
Step6: capturing picture by visible image capturing head, extract color characteristic, further determines whether that there are pyrotechnics spies
Property.
A picture data are extracted by visible image capturing head, rgb format is converted into, is judged whether by the characteristic of RGB
There are the characteristic of pyrotechnics color, pyrotechnics color is that red or yellow, Rule of judgment are as follows under normal circumstances:
The Rule of judgment of red color: (R-G > diff_R) && (R-B > diff_R), i.e. R component are greater than with G, B component difference
Specific threshold value.
The Rule of judgment of yellow color: B > 128&G > 128& (R-B) > diff_Y& (G-B) > diff_Y, i.e. B component and G component
Greater than 128, and the difference of B component and R, G component is greater than specific threshold value.
Step7: pyrotechnics assessment and alarm
It is to think that there are the feelings that pyrotechnics alerts when all meeting situation in conjunction with the testing result of Step4, Step5, Step6
Condition.
The present invention also provides a kind of non-volatile memory mediums comprising one or more computer instruction, described one
Item or a plurality of computer instruction realize firework detecting method described above when being executed.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Describe in detail it is bright, it should be understood that the above is only a specific embodiment of the present invention, the guarantor being not intended to limit the present invention
Protect range.Without departing from the spirit and scope of the invention, any modification, equivalent substitution, improvement and etc. done also belong to this
Within the protection scope of invention.
Claims (10)
1. a kind of method based on the detection of robot pyrotechnics, is applied to mobile robot, which comprises the steps of:
S1: the temperature data of a frame is obtained；
S2: temperature data is carried out to simplify processing；
S3: the area of the high temperature block number and high temperature block in image is extracted；
S4: interpretation of result is carried out to pyrotechnics temperature characterisitic, judges whether that there may be pyrotechnics alarms；
S5: carrying out behavioral characteristics detection, judges whether there is behavioral characteristics, excludes wrong report caused by high-temperature service；
S6: the analysis of pyrotechnics color characteristics further determines whether that there are pyrotechnics characteristics；
S7: pyrotechnics assessment and alarm are carried out in conjunction with the testing result of step S4, S5, S6, then thinks exist when being all satisfied situation
The case where pyrotechnics alerts.
2. the method according to claim 1 based on the detection of robot pyrotechnics, which is characterized in that in the step S1,
It further comprise obtaining the temperature data by infrared thermal imaging camera, setting the resolution of infrared thermal imaging camera
Rate is X*Y, and the temperature data of a frame is obtained by infrared thermal imaging camera, i.e. X*Y temperature data can use a two dimension
Array T [X] [Y] indicates the temperature data of a frame.
3. the method according to claim 2 based on the detection of robot pyrotechnics, which is characterized in that in the step S2,
It further comprise simplifying to the temperature data of the two-dimensional array T [X] [Y], obtaining simplified two-dimensional array data
t[X][Y]。
4. the method according to claim 3 based on the detection of robot pyrotechnics, which is characterized in that in the step S3,
Further comprise obtained by recursive algorithm be adjacent to up and down in two-dimensional array t [X] [Y] 1 block number and every piece in 1
Number.
5. the method according to claim 4 based on the detection of robot pyrotechnics, which is characterized in that the recursive algorithm
Calculation formula are as follows:
Wherein, area (i) (j) is the function of recursive algorithm, and i, j are parameter, and 0≤i < X, 0≤j < Y, B are entire two-dimensional array
1 block number, the number that N is in every piece 1 are adjacent in t [X] [Y] up and down.
6. the method according to claim 5 based on the detection of robot pyrotechnics, which is characterized in that in the step S4,
Further comprise being judged for the first time according to calculated block number B and number N, judges whether that there may be pyrotechnics alarms: adjacent
May be considered the number of pixel in 1 block 1 total N, the range of N is 0 < N < X*Y, a threshold value F is set here, when
MeetWhen this condition, it is believed that pyrotechnics may occur.
7. the method according to claim 6 based on the detection of robot pyrotechnics, which is characterized in that in the step S5,
It further comprise, when pyrotechnics may be occurred by determining in step S4, if current robot is moving, stopping robot,
Then step S1~S4 is repeated, multiple N value: N is got1、N2、N3、...Nm, wherein m is number, when meeting following formula
When, it is believed that there are behavioral characteristics,
8. the method according to claim 7 based on the detection of robot pyrotechnics, which is characterized in that in the step S6,
Further comprise that a picture data are extracted by visible image capturing head, are converted into rgb format, is by the characteristic judgement of RGB
It is no that there are the characteristics of pyrotechnics color.
9. the method according to claim 8 based on the detection of robot pyrotechnics, which is characterized in that the pyrotechnics color point
For red and yellow,
Red Rule of judgment are as follows: (R-G > diff_R) && (R-B > diff_R), i.e. R component are greater than specific with G, B component difference
Threshold value；
The Rule of judgment of yellow are as follows: B > 128&G > 128& (R-B) > diff_Y& (G-B) > diff_Y, i.e. B component and G component are greater than
128, and the difference of B component and R, G component is greater than specific threshold value.
10. a kind of non-volatile memory medium, which is characterized in that including one or more computer instruction, described one or more
Computer instruction realizes the described in any item methods of the claims 1-9 when being executed.
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| CN110136391A (en) * | 2019-05-10 | 2019-08-16 | 国网江苏省电力有限公司电力科学研究院 | A kind of energy-accumulating power station fire early-warning system and method |
| CN110706446A (en) * | 2019-10-29 | 2020-01-17 | 广东德臻消防机电工程有限公司 | Fire-fighting alarm method and system |
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