CN109360370B - Robot-based smoke and fire detection method - Google Patents
Robot-based smoke and fire detection method Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 35
- 239000000779 smoke Substances 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 claims description 23
- 238000001931 thermography Methods 0.000 claims description 11
- 238000011156 evaluation Methods 0.000 claims description 2
- 239000003086 colorant Substances 0.000 claims 1
- 238000004458 analytical method Methods 0.000 abstract description 6
- 230000007547 defect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 235000019504 cigarettes 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
Abstract
The invention belongs to the technical field of robots, and particularly relates to a firework detection method based on a robot, which is applied to a mobile robot, can realize remote firework detection through infrared temperature detection, and can realize no false alarm and low missing report through joint judgment through a firework detection algorithm based on infrared temperature and picture snapshot analysis of a visible light camera. The robot is used for smoke and fire detection, and cross-region dynamic smoke and fire detection can be realized.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a firework detection method based on a robot.
Background
Along with the soaring of social economy, the urbanization process is accelerated, and high-rise, underground and petrochemical buildings are massively emerged. The high-rise building and the complicated structure bring new challenges to the fire fighting of the building. How to rapidly and accurately judge whether a fire disaster occurs or not so as to timely process and ensure property and life safety is an important subject of fire fighting work. The following schemes are generally adopted in the prior art: 1. a sensor detection method comprises the following steps: the gas concentration during the fireworks is detected through a firework sensor, so that the fireworks are detected; 2. video analysis method: and performing color analysis on the video shot by the visible light camera, and adding a dynamic detection algorithm to judge whether smoke and fire occur. The prior art has the following disadvantages: 1) a sensor detection method comprises the following steps: there are many forms of sensor can detect fireworks, but all have application space limited, easily receive the interference, and the false alarm rate is high, and the intelligence is low, and it is not suitable for defects such as detection under adverse conditions. 2) Video analysis method: the method has the advantages that the analysis is carried out through the video only, the judgment is carried out through the dynamic states of color and firework, a certain false alarm rate exists, and when the firework is far away, the phenomenon of missing report is caused because the pixel of firework on the video is small and the judgment can not be carried out.
Disclosure of Invention
In order to solve the technical defects in the prior art, the invention provides a firework detection method based on a robot, which can realize remote firework detection through infrared temperature detection, and can realize no false alarm and low missing report through joint judgment through a firework detection algorithm based on infrared temperature and picture snapshot analysis of a visible light camera.
The invention is realized by the following technical scheme:
a method based on robot smoke and fire detection is applied to a mobile robot and comprises the following steps:
s1, acquiring temperature data of a frame;
s2, simplifying the temperature data;
s3, extracting the number of high-temperature blocks and the area of the high-temperature blocks in the image;
s4, analyzing results of the firework temperature characteristics, and judging whether firework alarms possibly exist;
s5, detecting the dynamic characteristics, judging whether the dynamic characteristics exist, and eliminating false alarm caused by high-temperature equipment;
s6, analyzing the firework color characteristics, and further judging whether firework characteristics exist;
and S7, performing firework evaluation and alarm by combining the detection results of the steps S4, S5 and S6, and determining that the firework alarm condition exists when the conditions are all met.
Further, in step S1, the method further includes acquiring the temperature data through an infrared thermal imaging camera, setting a resolution of the infrared thermal imaging camera to X × Y, and acquiring temperature data of one frame through the infrared thermal imaging camera, that is, X × Y pieces of temperature data, where the temperature data of one frame can be represented by a two-dimensional array T [ X ] [ Y ].
Further, in step S2, the method further includes simplifying the temperature data of the two-dimensional array T [ X ] [ Y ] to obtain simplified two-dimensional array data T [ X ] [ Y ].
Further, in the step S3, the method further includes obtaining the number of blocks in the two-dimensional array t [ X ] [ Y ] with 1 adjacent to each other in the upper, lower, left and right directions and the number of 1 in each block by a recursive algorithm.
Further, the calculation formula of the recursive algorithm is as follows:
wherein, area (i), (j) is a function of the recursive algorithm, i and j are parameters, i is more than or equal to 0 and less than X, j is more than or equal to 0 and less than Y, B is the number of blocks which are adjacent to each other in the whole two-dimensional array t [ X ] [ Y ] and are 1, and N is the number of 1 in each block.
Further, in step S4, the method further includes performing a first determination according to the calculated number B and number N of blocks, and determining whether there is a possibility of a smoke and fire alarm: the total number N of 1's in the adjacent 1's block can be considered as the number of pixels, N ranges from 0 < N < X Y, where a threshold F is set, and when satisfied
Under this condition, it is considered that the smoke and fire may occur.
Further, in the step S5, when it is determined in the step S4 that fireworks may occur, if the robot is currently moving, the robot is stopped, and then the steps S1 to S4 are repeated to obtain N values for a plurality of times: n is a radical of1、N2、N3、...NmWhere m is the number of times, the presence of dynamic features can be considered when the following formula is satisfied,
further, in step S6, the method further includes extracting a piece of picture data by a visible light camera, converting the picture data into RGB format, and determining whether there is a firework color characteristic according to RGB characteristics.
Further, the firework is divided into red and yellow,
the red judgment conditions are as follows: (R-G > diff _ R) & (R-B > diff _ R), i.e., the difference between the R component and the G, B component is greater than a certain threshold;
the judgment conditions of yellow are as follows: b >128& G >128& (R-B) > diff _ Y & (G-B) > diff _ Y, i.e., the B and G components are greater than 128 and the difference between the B and R, G components is greater than a certain threshold.
The present invention also includes a non-volatile storage medium comprising one or more computer instructions that, when executed, implement the smoke and fire detection method described above.
Compared with the prior art, the invention has at least the following beneficial effects or advantages:
1. a smaller source of fire than a firework, such as a cigarette butt, can be detected;
2. false alarm conditions based on the occurrence of visible light video detection can be completely eliminated through the characteristic detection of the temperature;
3. the robot is used for smoke and fire detection, and cross-region dynamic smoke and fire detection can be realized.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings;
FIG. 1 is a flow chart of a method of robot-based smoke and fire detection of the present invention;
FIG. 2 is a simplified graph of temperature data for the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The scheme is applied to the mobile robot, and the infrared thermal imaging camera and the visible light high-definition camera are arranged on the mobile robot.
The invention relates to a method based on robot smoke and fire detection, the flow of the method is shown in figure 1, and the steps are as follows:
step1, acquiring temperature data of one frame through infrared thermal imaging camera
The infrared thermal imaging camera can acquire the temperature of each pixel point, the resolution of the infrared thermal imaging camera is set to be X X Y, one frame of temperature data, namely X X Y temperature data, is acquired through the infrared thermal imaging camera, and one two-dimensional array T [ X ] [ Y ] can be used for representing the one frame of temperature data.
Step2, simplifying the temperature data of the two-dimensional array T [ X ] [ Y ]
The temperature of the fire is typically above 300 degrees Celsius, where the temperature data of the two dimensional array T [ X ] [ Y ] is compared to 300, as shown in FIG. 2, and is represented by 1 if greater than 300 and 0 if less than 300. As can be seen from FIG. 1, two-dimensional array data of t [ X ] [ Y ] is obtained by simplifying the temperature data.
Step3, extracting the number of high-temperature blocks in the image: acquiring the number of blocks which are adjacent to each other in the two-dimensional array t [ X ] [ Y ] in the vertical direction and the left and right direction and are 1 and the number of 1 in each block
According to the recursive algorithm in the following formula, recursive judgment is carried out on the two-dimensional array t [ X ] [ Y ], and the number of blocks (B represents the number of blocks) which are adjacent to each other in the upper, lower, left and right directions and are 1 in the two-dimensional array t [ X ] [ Y ] and the number of 1 in each block (N represents the number) can be obtained.
Wherein, area (i), (j) is a function of the recursive algorithm, i and j are parameters, i is more than or equal to 0 and less than X, j is more than or equal to 0 and less than Y, B is the number of blocks which are adjacent to each other in the whole two-dimensional array t [ X ] [ Y ] and are 1, and N is the number of 1 in each block.
Step4, carrying out primary judgment according to the calculated block number B and the calculated block number N, and judging whether firework alarms possibly exist or not
The total number N of 1's in the adjacent 1's block can be considered as the number of pixels, N ranges from 0 < N < X Y, where a threshold F is set, and when satisfied
Under this condition, it is considered that the smoke and fire may occur.
Wherein, the smaller the value of the threshold value F is, the farther the distance of detecting smoke and fire is.
Step5, dynamic characteristic detection is carried out, and false alarm caused by high-temperature equipment is eliminated
When the Step4 judges that fireworks can be generated, if the robot is moving, the robot is stopped, and the steps from the Step1 to the Step4 are repeatedObtaining multiple values of N, e.g. N1、N2、N3、...NmWhere m is the number of times, the dynamic characteristics can be considered to exist when the following formula is satisfied.
The above formula shows that the N values obtained for multiple times are averaged and then are compared with the N value obtained for the first time1The values are compared and if the change exceeds 20%, a dynamically changing feature is considered to be present. Because the flame is dynamically changed, the N value of one frame of data acquired each time is greatly changed, and if the N values acquired for multiple times are almost unchanged, the flame is not firework but is a high-temperature device.
And Step6, capturing pictures through a visible light camera, extracting color features, and further judging whether the firework characteristic exists.
Extracting a piece of picture data through a visible light camera, converting the picture data into an RGB format, judging whether the characteristic of firework color exists or not according to the characteristics of RGB, wherein the firework color is red or yellow under the general condition, and the judging conditions are as follows:
judgment conditions of red color: (R-G > diff _ R) & (R-B > diff _ R), i.e., the difference between the R component and the G, B component is greater than a certain threshold.
Judging conditions of yellow color: b >128& G >128& (R-B) > diff _ Y & (G-B) > diff _ Y, i.e., the B and G components are greater than 128 and the difference between the B and R, G components is greater than a certain threshold.
Step7 Firework assessment and alarm
And combining the detection results of Step4, Step5 and Step6, and if the conditions are all met, determining that the firework alarm condition exists.
The present invention also provides a non-volatile storage medium comprising one or more computer instructions that, when executed, implement the smoke and fire detection method described above.
The above-mentioned embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, and it should be understood that the above-mentioned embodiments are only examples of the present invention and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the invention are also within the protection scope of the invention.
Claims (7)
1. A method based on robot smoke and fire detection is applied to a mobile robot and is characterized by comprising the following steps:
s1, acquiring temperature data of a frame;
s2, simplifying the temperature data;
s3, extracting the number of high-temperature blocks and the area of the high-temperature blocks in the image;
s4, analyzing results of the firework temperature characteristics, and judging whether firework alarms possibly exist;
s5, detecting the dynamic characteristics, judging whether the dynamic characteristics exist, and eliminating false alarm caused by high-temperature equipment;
s6, analyzing the firework color characteristics, and further judging whether firework characteristics exist;
s7, carrying out firework evaluation and alarm by combining the detection results of the steps S4, S5 and S6, and determining that the firework alarm condition exists when the detection results meet the conditions;
in step S1, the method further includes acquiring the temperature data through an infrared thermal imaging camera, setting a resolution of the infrared thermal imaging camera to X × Y, acquiring temperature data of one frame through the infrared thermal imaging camera, that is, X × Y temperature data, and representing the temperature data of one frame by using a two-dimensional array T [ X ] [ Y ];
in the step S2, the method further includes simplifying the temperature data of the two-dimensional array T [ X ] [ Y ] to obtain simplified two-dimensional array data T [ X ] [ Y ];
the temperature data of the two-dimensional array T [ X ] [ Y ] is simplified, and the method specifically comprises the following steps:
comparing the temperature data of the two-dimensional array T [ X ] [ Y ] with 300 ℃, if the temperature data is more than 300 ℃, indicating the temperature data by 1, and if the temperature data is less than 300, indicating the temperature data by 0;
in the step S3, the method further includes obtaining the number of blocks in the two-dimensional array t [ X ] [ Y ] with adjacent numbers of 1 from top to bottom and from left to right and the number of 1 in each block by a recursive algorithm.
2. A method for robot-based smoke and fire detection as claimed in claim 1, wherein said recursive algorithm has the formula:
wherein, area (i), (j) is a function of the recursive algorithm, i and j are parameters, i is more than or equal to 0 and less than X, j is more than or equal to 0 and less than Y, B is the number of blocks which are adjacent to each other in the whole two-dimensional array t [ X ] [ Y ] and are 1, and N is the number of 1 in each block.
3. The method for detecting fireworks based on robot according to claim 2, characterized in that in step S4, it further comprises, making a first determination based on the calculated number of blocks B and number N, determining whether there is a possibility of a fireworks alarm: the total number N of 1's in the adjacent 1's block can be considered as the number of pixels, N ranges from 0 < N < X Y, where a threshold F is set, and when satisfied
Under this condition, it is considered that the smoke and fire may occur.
4. The robot-based smoke and fire detection method according to claim 3, wherein in the step S5, the method further comprises, when it is determined in the step S4 that smoke and fire are likely to occur, if the robot is moving, stopping the robot, and repeating the steps S1 to S4 to obtain N values for a plurality of times: n is a radical of1、N2、N3、...NmWhere m is the number of times, the presence of dynamic features can be considered when the following formula is satisfied,
5. the method for detecting fireworks based on robot according to claim 4, wherein in step S6, further comprising, extracting a picture data by a visible light camera, converting the picture data into RGB format, and determining whether there is the character of fireworks color by the character of RGB.
6. A method for robot-based smoke and fire detection according to claim 5, wherein said smoke and fire colors are divided into red and yellow,
the red judgment conditions are as follows: (R-G > diff _ R) & (R-B > diff _ R), i.e., the difference between the R component and the G, B component is greater than a certain threshold;
the judgment conditions of yellow are as follows: b >128& G >128& (R-B) > diff _ Y & (G-B) > diff _ Y, i.e., the B and G components are greater than 128 and the difference between the B and R, G components is greater than a certain threshold.
7. A non-volatile storage medium comprising one or more computer instructions which, when executed, implement the method of any one of claims 1 to 6.
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| CN110910604B (en) * | 2019-11-21 | 2022-10-04 | 北京都是科技有限公司 | Monitoring method, system and device for fire alarm |
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