CN111249655A - Fire-fighting bomb-throwing fire-extinguishing robot flame recognition device and positioning method - Google Patents
Fire-fighting bomb-throwing fire-extinguishing robot flame recognition device and positioning method Download PDFInfo
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C19/00—Hand fire-extinguishers in which the extinguishing substance is expelled by an explosion; Exploding containers thrown into the fire
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- A—HUMAN NECESSITIES
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Abstract
The invention discloses a fire-fighting bomb-throwing fire-extinguishing robot flame recognition device and a method, wherein the device consists of a binocular camera (1), a video signal board (2), a distance measuring sensor (3), an angle sensor (4), a rotary motor (5), a rotary driver (6), a pitching driver (7), a pitching motor (8) and a main control board (9). The device adopts the twin-lens to gather and survey video image, carries out analysis processes to the image in real time, judges whether conflagration exists, has effectively improved discernment efficiency and precision. And meanwhile, the flame target is positioned by adopting two degrees of freedom, namely horizontal degree and vertical degree of freedom, so that the flame positioning precision is improved, and accurate information is provided for the fire-fighting robot to launch fire-fighting bombs.
Description
Technical Field
The invention belongs to the field of fire-fighting robots, and particularly relates to a fire recognition device and a positioning method of a fire-fighting bomb-throwing fire-fighting robot.
Background
The fire disaster is a disaster with strong disasters and destructiveness, particularly in large-space buildings, the special building structure and the application increase the probability of fire disaster, accelerate the spreading speed, deepen the damage degree, increase the difficulty of prevention and suppression, and make the fire-fighting task extremely difficult. The traditional fire detection technology cannot well meet the fire safety requirement of a tall building space due to the limitation of technical means, and the image type fire detection technology just makes up the defect. The image type fire detection system is an automatic fire detection alarm system which is developed by taking a binocular camera as a probe and combining a photoelectric technology and an image processing technology. The system adopts a non-contact detection technology, observes color/black and white images and infrared images of a monitored area through a camera, processes and analyzes the obtained images, judges whether a fire disaster occurs or not through image characteristics of early fire smoke and fire flame, alarms and positions the fire disaster, and provides an accurate target position for the fire-fighting bomb-throwing fire-extinguishing robot. Therefore, in order to accurately judge the fire, carry out positioning measurement on a fire area and give specific flame position information, it is very necessary to develop a fire-fighting bomb-throwing fire-extinguishing robot flame recognition device.
Disclosure of Invention
In order to solve the technical problems, the invention provides a fire recognition device and a positioning method for a fire-fighting bomb-throwing fire-extinguishing robot.
The technical scheme adopted by the invention is as follows: the utility model provides a fire control fire-fighting robot flame recognition device that throws bomb, the device comprises binocular camera (1), video signal board (2), range finding sensor (3), angle sensor (4), rotating electrical machines (5), gyration driver (6), every single move driver (7), every single move motor (8) and main control board (9).
This flame recognition device installs on fire control fire-fighting bomb projection machine people body, and fire control fire-fighting bomb projection machine people body carries out wireless communication through antenna and remote monitoring center and accomplishes information transfer, can show the flame image that flame recognition device sent on remote monitoring center's the display screen, still is equipped with the device of throwing that is used for launching the fire extinguishing bomb on the robot body.
The main control board (9) is a control core of the device and controls the binocular camera (1) to move along the horizontal and vertical directions to search for the flame position. The rotary driver (6) drives the rotary motor (5) to drive the binocular camera (1) to rotate along the horizontal direction according to a control command of the main control board (9); and the pitching driver (7) drives the pitching motor (8) to drive the binocular camera (1) to move up and down according to the control command of the main control board (9).
The binocular camera (1) is used for collecting video images of a fire scene and sending collected image signals to the video signal board (2), and the video signal board (2) is used for identifying flame information and determining the coordinate position of the flame center. On the one hand, the flame image is uploaded to a display screen of a remote monitoring center, so that the flame image is convenient for operators to watch. Meanwhile, the flame center coordinate information is sent to a main control board (9). The main control board (9) respectively controls the rotation motor (5) and the pitching motor (8) to rotate according to the flame center coordinates, and when the flame images collected by the binocular camera (1) fall on the position of the screen coordinate origin, the binocular camera (1) stops moving.
The distance measuring sensor (3) and the angle sensor (4) are used for providing the distance from a fire source to the robot and the pitching angle information of the binocular camera (1) for the main control board (9), and the main control board (9) controls the pitching motor (8) to rotate according to the information fed back by the distance measuring sensor (3) and the angle sensor (4) to complete the positioning of the binocular camera (1) in the vertical direction.
Based on the fire-fighting bomb-throwing fire-extinguishing robot flame recognition device, the invention also provides a flame positioning method, which comprises the following steps:
the method comprises the following steps: the main control board (9) sends a horizontal rotation instruction to the rotary driver (6) through CAN communication, and the rotary driver (6) drives the rotary motor (5) to drive the binocular camera (1) to rotate left and right along the horizontal direction;
step two: binocular camera (1) rotates the in-process along the horizontal direction, sends the image signal who gathers for video signal board (2), and video signal board (2) discern flame to upload the flame image to remote monitoring center. The display screen picture of the remote monitoring center is divided into four quadrants, the center of the screen is the origin of coordinates (0, 0), the horizontal direction is the X axis, and the vertical direction is the Y axis. Meanwhile, the video signal board (2) sends the identified flame center coordinate information to the main control board (9) through an RS485 serial port;
step three: the main control board (9) controls the rotary driver (6) to drive the rotary motor (5) to drive the binocular camera (1) to rotate according to the flame center coordinate information, and when the flame center coordinate X =0, namely the flame is located at the middle position of the display screen in the horizontal direction, the rotary motor (5) stops rotating to complete horizontal direction positioning;
step four: the distance measuring sensor (3) measures the distance from a fire source to the robot, data are sent to the main control board (9) through an RS232 serial port, the main control board (9) couples the wind resistance coefficient and the coordinates of the flame center in the Y direction according to the parabola principle, and the flame target pitching angle is calculated through analysis;
step five: the main control board (9) sends an instruction to the pitching driver (7) through CAN communication, and controls the pitching driver (7) to drive the pitching motor (8) to drive the binocular camera (1) to rotate along the vertical direction;
step six: the angle sensor (4) collects pitching angle information of the binocular camera (1) and sends a pitching angle signal to the main control board (9), when the main control board (9) detects that a pitching angle reaches a flame target pitching angle, the pitching motor stops rotating to complete vertical direction positioning, and at the moment, the flame center is located at the position of a coordinate origin (0, 0). Thereby providing an accurate flame target location for the fire extinguishing bomb launching device.
The invention has the beneficial effects that: the flame identification device and the positioning method adopt a double-lens camera to acquire a fire scene video image, analyze and process the image in real time, identify a fire source and search a flame center position; meanwhile, the motor is controlled to rotate by adopting two degrees of freedom, namely horizontal degree and vertical degree of freedom, so that flame is quickly and accurately positioned, an accurate target is provided for the fire extinguishing bomb throwing device, and the fire extinguishing efficiency is effectively improved.
Drawings
FIG. 1 is a block diagram of the present invention.
FIG. 2 is a schematic view of the installation position of the fire-fighting robot body.
Fig. 3 is a pin definition diagram of a main control board (9) STM32F429 chip U13.
FIG. 4 is a definition diagram of one U5 pin of an RS232 serial chip.
FIG. 5 is a pin definition diagram of a second U6 of an RS232 serial chip.
FIG. 6 is a definition diagram of the U9 pin of an RS485 serial chip.
Fig. 7 is a pin definition diagram of the CAN communication chip U3.
Detailed Description
The invention is further explained below with reference to the drawings and the embodiments.
As shown in figure 1, the fire-fighting bomb-throwing fire-extinguishing robot flame recognition device is composed of a binocular camera (1), a video signal board (2), a distance measuring sensor (3), an angle sensor (4), a rotary motor (5), a rotary driver (6), a pitching driver (7), a pitching motor (8) and a main control board (9).
This flame recognition device installs on fire control fire-fighting bomb projection machine people body, and fire control fire-fighting bomb projection machine people body carries out wireless communication through antenna and remote monitoring center and accomplishes information transfer, can show the flame image that flame recognition device sent on remote monitoring center's the display screen, still is equipped with the device of throwing that is used for launching the fire extinguishing bomb on the robot body.
As shown in fig. 2 to 7, the power supply voltage of the binocular camera (1) is DC12V, the two-way video signal is an analog signal, and the output is an SMA connector for image acquisition. The power supply voltage of the video signal board (2) is DC24V, two paths of video input signals are input into an SMA joint and are connected with the binocular camera (1), the output signals are one path of RS485 serial port communication interfaces A2, B2 and GND, the output signals of the video signal board (2) are connected with an RS485 serial port chip U9, and the video signal board (2) is used for analyzing and processing the video signals in real time and uploading images to a remote monitoring center; the picture of the display screen of the remote monitoring center is divided into four quadrants, the center of the screen is the origin of coordinates (0, 0), the horizontal direction is the X axis, and the vertical direction is the Y axis. And the video signal board (2) outputs the identified flame center point X and Y coordinates through an RS485 serial port.
The distance measuring sensor (3) is powered by DC24V, output signals are one path of RS232 serial port communication interface R1, T1 and GND, the output signals of the distance measuring sensor (3) are connected with a RS232 serial port chip U5, and the distance measuring sensor (3) is used for measuring the distance from a fire source to the fire-fighting bomb-throwing fire-extinguishing robot body.
The angle sensor (4) is powered by DC24V, output signals are one path of RS232 serial port communication interface R4, T4 and GND, the output signals of the angle sensor (4) are connected with two RS232 serial port chips U6, the angle sensor (4) is used for measuring the pitching angle of the binocular camera (1), and simultaneously, the measured data are uploaded to the main control board (9) through the RS232 serial ports in real time.
The rotary driver (6) is powered by DC48V, input signals are a CAN communication interface CANH2, a CANL2 and an input power interface, and output signals are an encoder interface and a three-phase output interface U, V, W; an input signal of the rotary driver (6) is connected with a CAN communication chip U3, and an output signal encoder interface and a three-phase output interface U, V, W are respectively connected with an encoder and a three-phase output U, V, W of the rotary motor (5).
Furthermore, the pitching driver (7) adopts DC48V to supply power, input signals are a CAN communication interface CANH2, a CANL2 and an input power interface, and output signals are an encoder interface and a three-phase output interface U, V, W; the input signal of the pitching driver (7) is connected with a CAN communication chip U3, and the output signal encoder interface and the three-phase output interface U, V, W are respectively connected with the encoder of the pitching motor (8) and the three-phase output U, V, W.
The main control board (9) adopts an STM32F429 chip U13, the pin definition is as shown in FIG. 3, and DC12V supplies power; the first RS232 serial port chip U5 adopts an RSM232ECHT chip, the pin definition is shown in figure 4, the second RS232 serial port chip U6 adopts an RSM232ECHT chip, and the pin definition is shown in figure 5; an RS485 serial port chip U9 adopts an RSM485ECHT chip, and the pin definition is shown in FIG. 6; the CAN communication chip U3 adopts a CTM8251AT chip, and the pin definition is shown in FIG. 7.
A PA9 pin of an STM32F429 chip U13 of the main control board (9) is connected with a 3 pin of a first U5 of an RS232 serial port chip through a resistor R11, and the network label is TXD 1; the PA10 pin is connected with the 4 pin of a first U5 of the RS232 serial port chip through a resistor R9, and the network label is RXD 1; the 6 pin and the 7 pin of the first RS232 serial port chip U5 are respectively connected with the R15 and the R13 in series and connected with the RS232 serial port communication interfaces R1 and T1 of the distance measuring sensor (3), and the 8 pin of the first RS232 serial port chip U5 is connected with the RS232 serial port communication interface GND of the distance measuring sensor (3).
A PC10 pin of an STM32F429 chip U13 of the main control board (9) is connected with a 3 pin of a second RS232 serial port chip U6 through a resistor R31, a network label TXD4, a PC11 pin is connected with a 4 pin of the second RS232 serial port chip U6 through a resistor R39, and a network label RXD 4; the 6 pin and the 7 pin of the RS232 serial port chip II U6 are respectively connected with the R35 and the R33 in series and connected with the RS232 serial port communication interfaces R4 and T4 of the angle sensor (4); and the 8 pin of the RS232 serial port chip II U6 is connected with an RS232 serial port communication interface GND of the angle sensor (4).
The PC12 pin of the STM32F429 chip U13 of the main control board (9) is connected with the 3 pin of the U9 through a resistor R22, the network label TXD5, the PD2 pin is connected with the 4 pin of the RS485 serial chip U9 through a resistor R21, the network label RXD5, the PD4 pin is connected with the 5 pin of the RS485 serial chip U9, the network label TD5, the 8 pin and the 9 pin of the RS485 serial chip U9 are respectively connected with a resistor R26 and a resistor R25 in series and connected with the RS485 serial communication interfaces B2 and A2 of the video signal board (2), and the 10 pin of the RS485 serial chip U9 is connected with the RS485 serial communication interface GND of the video signal board (2).
The PB5 pin of the STM32F429 chip U13 of the main control board (9) is connected with the 3 pin of the CAN communication chip U3, the network number CAN2_ TX is connected with the PB6 pin of the 4 pin of the CAN communication chip U3, and the network number CAN2_ RX is connected with the PB 2_ RX. 6 pins and 7 pins of a CAN communication chip U3 are respectively connected in series with R3 and R1 and are simultaneously connected with CAN communication interfaces CANH2 and CANL2 of the slewing driver (6) and the pitching driver (7).
The main control board (9) communicates with the rotation driver (6) and the pitching driver (7) by adopting CAN2.0B, in order to identify and distinguish commands sent by the main control board (9), the default ID of the rotation driver (6) is 0x0602, the default ID of the pitching driver (7) is 0x603, and the main control board (9) respectively controls the rotation driver (6) and the pitching driver (7) to perform horizontal and vertical actions by sending ID + command data.
Based on the fire-fighting bomb-throwing fire-extinguishing robot flame recognition device, the invention also provides a flame positioning method, which comprises the following steps:
the method comprises the following steps: the main control board (9) sends a horizontal rotation instruction to the rotary driver (6) through CAN communication, and the rotary driver (6) drives the rotary motor (5) to drive the binocular camera (1) to rotate left and right along the horizontal direction;
step two: binocular camera (1) rotates the in-process along the horizontal direction, sends the image signal who gathers for video signal board (2), and video signal board (2) discern flame to upload the flame image to remote monitoring center. The display screen picture of the remote monitoring center is divided into four quadrants, the center of the screen is the origin of coordinates (0, 0), the horizontal direction is the X axis, and the vertical direction is the Y axis. Meanwhile, the video signal board (2) sends the identified flame center coordinate information to the main control board (9) through an RS485 serial port;
step three: the main control board (9) controls the rotary driver (6) to drive the rotary motor (5) to drive the binocular camera (1) to rotate according to the flame center coordinate information, and when the flame center coordinate X =0, namely the flame is located at the middle position of the display screen in the horizontal direction, the rotary motor (5) stops rotating to complete horizontal direction positioning;
step four: the distance measuring sensor (3) measures the distance from a fire source to the robot, data are sent to the main control board (9) through an RS232 serial port, the main control board (9) couples the wind resistance coefficient and the coordinates of the flame center in the Y direction according to the parabola principle, and the flame target pitching angle is calculated through analysis;
step five: the main control board (9) sends an instruction to the pitching driver (7) through CAN communication, and controls the pitching driver (7) to drive the pitching motor (8) to drive the binocular camera (1) to rotate along the vertical direction;
step six: the angle sensor (4) collects pitching angle information of the binocular camera (1) and sends a pitching angle signal to the main control board (9), when the main control board (9) detects that a pitching angle reaches a flame target pitching angle, the pitching motor stops rotating to complete vertical direction positioning, and at the moment, the flame center is located at the position of a coordinate origin (0, 0). Thereby providing an accurate flame target position for the fire extinguishing bomb throwing device.
Claims (4)
1. The utility model provides a fire control fire-fighting robot flame recognition device that throws bomb which characterized in that: the device consists of a binocular camera (1), a video signal board (2), a distance measuring sensor (3), an angle sensor (4), a rotary motor (5), a rotary driver (6), a pitching driver (7), a pitching motor (8) and a main control board (9); the flame recognition device is arranged on the fire-fighting projectile fire-extinguishing robot body; the main control board (9) is a control core of the device and controls the binocular camera (1) to move along the horizontal and vertical directions to search for the flame position; the rotary driver (6) drives the rotary motor (5) to drive the binocular camera (1) to rotate along the horizontal direction according to a control command of the main control board (9); and the pitching driver (7) drives the pitching motor (8) to drive the binocular camera (1) to move up and down according to the control command of the main control board (9).
2. A fire-fighting robot flame recognition device according to claim 1, characterized in that: the binocular camera (1) is used for collecting video images of a fire scene and sending collected image signals to the video signal board (2), and the video signal board (2) is used for identifying flame information and determining the coordinate position of the flame center; on one hand, the flame image is uploaded to a display screen of a remote monitoring center, and meanwhile, the flame center coordinate information is sent to a main control board (9); the main control board (9) respectively controls the rotation motor (5) and the pitching motor (8) to rotate according to the flame center coordinate.
3. A fire-fighting robot flame recognition device according to claim 1, characterized in that: the distance measuring sensor (3) and the angle sensor (4) are used for providing the distance from a fire source to the robot and the pitching angle information of the binocular camera (1) for the main control board (9), and the main control board (9) controls the pitching motor (8) to rotate according to the information fed back by the distance measuring sensor (3) and the angle sensor (4) to complete the positioning of the binocular camera (1) in the vertical direction.
4. A flame positioning method based on the flame recognition device of the fire-fighting bomb-throwing fire-extinguishing robot of claim 1 is characterized in that: the method comprises the following steps:
the method comprises the following steps: the main control board (9) sends a horizontal rotation instruction to the rotary driver (6) through CAN communication, and the rotary driver (6) drives the rotary motor (5) to drive the binocular camera (1) to rotate left and right along the horizontal direction;
step two: the binocular camera (1) transmits acquired image signals to the video signal plate (2) in the process of rotating along the horizontal direction, the video signal plate (2) identifies flames, and flame images are uploaded to the remote monitoring center;
a display screen picture of the remote monitoring center is divided into four quadrants, the center of the screen is a coordinate origin (0, 0), the horizontal direction is an X axis, and the vertical direction is a Y axis;
meanwhile, the video signal board (2) sends the identified flame center coordinate information to the main control board (9) through an RS485 serial port;
step three: the main control board (9) controls the rotary driver (6) to drive the rotary motor (5) to drive the binocular camera (1) to rotate according to the flame center coordinate information, and when the flame center coordinate X =0, namely the flame is located at the middle position of the display screen in the horizontal direction, the rotary motor (5) stops rotating to complete horizontal direction positioning;
step four: the distance measuring sensor (3) measures the distance from a fire source to the robot, data are sent to the main control board (9) through an RS232 serial port, the main control board (9) couples the wind resistance coefficient and the coordinates of the flame center in the Y direction according to the parabola principle, and the flame target pitching angle is calculated through analysis;
step five: the main control board (9) sends an instruction to the pitching driver (7) through CAN communication, and controls the pitching driver (7) to drive the pitching motor (8) to drive the binocular camera (1) to rotate along the vertical direction;
step six: the angle sensor (4) collects the pitching angle information of the binocular camera (1) and sends a pitching angle signal to the main control board (9), when the main control board (9) detects that the pitching angle reaches a flame target pitching angle, the pitching motor stops rotating to complete vertical direction positioning, and at the moment, the flame center is located at the position of a coordinate origin (0, 0);
thereby providing an accurate flame target location for the fire extinguishing bomb launching device.
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Cited By (1)
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| CN113274672A (en) * | 2021-04-27 | 2021-08-20 | 中国矿业大学 | Fire monitor hybrid control system and control method based on machine vision |
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