CN112396797A - Intelligent fire-driving auxiliary monitoring and early warning robot system and method - Google Patents
Intelligent fire-driving auxiliary monitoring and early warning robot system and method Download PDFInfo
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- CN112396797A CN112396797A CN202011365181.XA CN202011365181A CN112396797A CN 112396797 A CN112396797 A CN 112396797A CN 202011365181 A CN202011365181 A CN 202011365181A CN 112396797 A CN112396797 A CN 112396797A
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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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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
- G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
- G08B5/36—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources
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Abstract
An intelligent fire-working auxiliary monitoring and early warning robot system and a method thereof, comprising a robot and a control mechanism; the robot comprises a robot body and a rotatable holder positioned on the upper part of the robot body, and the control mechanism is positioned in the robot body; the control mechanism comprises a control module, a display module, a wireless module and a power supply module; the control module is respectively connected with the display module and the wireless module. Through video monitoring's conflagration characteristic detecting system, carry out intelligent analysis according to the image that the camera was gathered and judge whether there is the fire to appear, through wireless module with information transmission to client interface, intelligent bracelet and mobile phone SMS, realize real-time monitoring on a large scale. And only one robot is needed to monitor the whole space, and meanwhile, the fixed-point supervision and inspection work of people is not needed.
Description
Technical Field
The invention belongs to the technical field of machine vision technology and Internet of things, and particularly relates to an intelligent fire-driving auxiliary monitoring and early warning robot system and method.
Background
The emergence of fire has strongly promoted the civilization and social development of mankind, but once out of control in time and space, it has brought about a huge disaster. Among various disasters, a fire disaster is one of the main disasters which threaten public safety and social development most often and most generally, and the occurrence frequency is at the head of each disaster. Therefore, fire prevention is an issue that is not very slow.
At present, the methods for fire monitoring mainly use sensors and closed-circuit monitoring televisions, which do make great contributions in some respects, but have some drawbacks that are difficult to solve. At present, most of domestic automatic fire alarm systems are based on monitoring of sensors, such as smoke, temperature sensing and photosensitive detectors, which respectively utilize the smoke characteristics, illumination characteristics, temperature characteristics and other aspects of flames to detect the existence of the flames, but the monitoring range of the sensors is small and the sensors are easy to lose effectiveness; in addition, the closed-circuit monitoring television needs to be monitored manually, and people must participate in uninterrupted observation and judgment, so that heavy work is brought to people, and the closed-circuit monitoring television is extremely inconvenient.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide an intelligent fire-driving auxiliary monitoring and early warning robot system and method. And only one robot is needed to monitor the whole space, and meanwhile, the fixed-point supervision and inspection work of people is not needed.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent fire-driving auxiliary monitoring and early warning robot system comprises a robot and a control mechanism;
the robot comprises a robot body and a rotatable holder positioned on the upper part of the robot body, and the control mechanism is positioned in the robot body;
the robot is used for the industrial field, and according to camera acquisition image intelligent analysis, realize real-time large scale supervision fire purpose to can accurate warning, remind the staff in time to carry out the secondary to the scene and verify, avoid causing conflagration on a large scale, the robot can adapt to the application strip under the industrial area condition, have more extensive application range and more apparent result of use.
The control mechanism comprises a control module, a display module, a wireless module and a power supply module; the control module is respectively connected with the display module and the wireless module.
The control module comprises a core board, a video board and an industrial personal computer; the core board is used for receiving the data transmitted by each module and judging whether an alarm command is sent out by an alarm lamp or not according to the data; the video board is used for receiving data of the visible light camera and the infrared camera and transmitting the data into the core board; the industrial computer is used for receiving data of the thermal imaging camera and the Bluetooth module and transmitting the data to the core board.
The display module comprises a display screen, a visible light camera, an infrared camera, a thermal imaging camera and an alarm lamp; the display screen is used for displaying the function of the screen; the camera is used for collecting, filtering and acquiring the color, temperature and morphological characteristics of fire; the alarm lamp is used for sending an alarm instruction.
The visible light camera, the infrared camera, the thermal imaging camera and the alarm lamp are arranged at the top of the robot body through the rotatable holder.
The wireless transmission module comprises a short message module, a Bluetooth module and a WIFI module; the short message module is used for sending a short message indication in a fire alarm under the condition that the fire is judged to appear; the Bluetooth module is used for sending out bracelet vibration and displaying an instruction in a fire alarm when the condition that fire occurs is judged; and the WIFI module is used for transmitting data to the flat panel interface.
The power module is used for supplying power to the robot, the control module, the display module and the wireless transmission module and supplying power to the robot through a battery arranged on the body part of the robot.
An operation method of an intelligent fire-driving auxiliary monitoring and early warning robot system comprises the following steps:
step 1: acquiring external information data through a camera in a display module;
step 2: the visible light camera and the infrared camera transmit external information data to the video board, and the thermal imaging camera transmits the external information data to the industrial personal computer;
and step 3: the Bluetooth module in the wireless transmission module collects external information data through the camera and transmits the external information data to the industrial personal computer, and the WIFI module collects the external information data and transmits the external information data to the core board;
and 4, step 4: the video board and the industrial personal computer transmit the collected information data to the core board;
and 5: the core board extracts flame characteristics through the received data and judges whether a fire source appears or not, the thermal imaging camera firstly receives temperature information (the temperature information may have non-fire source information, such as temperature rise caused by high-temperature weather, a water cup filled with hot water, electric welding and the like) transmitted by a target object, after receiving the temperature information, the high-temperature area is locked, then the video board carries out video image acquisition and retrieves the flame information, if the video is judged to be the flame information, alarm reminding is immediately carried out, and the step 6 or 7 is executed;
step 6: the core board judges whether a fire source appears or not, if so, the data information is sent to an alarm lamp in the display module, and the alarm lamp sends an alarm instruction; sending the data information to a Bluetooth module in the wireless transmission module, and enabling the Bluetooth bracelet to send out vibration and display an instruction in alarming; sending the data information to a short message module in a wireless transmission module, and receiving a short message instruction in a fire alarm by a mobile phone; sending the data information to a WIFI module in the wireless transmission module, marking a fire source by a red frame appearing on the flat interface, and executing the step 8;
and 7: if the core board judges that the fire source does not appear, continuing monitoring and executing the step 1-5;
and 8: the core board sends out an alarm data instruction and continues monitoring at the same time when judging that a fire source appears at a certain position, and the step 10 or 11 is executed;
and step 9: the core board continues monitoring and executes the steps 1-5;
step 10: if a plurality of ignition sources appear at the same time, the data information is simultaneously transmitted into the core board, and the core board simultaneously sends out a plurality of alarm instructions.
Step 11: if no other fire sources appear, the alarm instruction is stopped after 10s, and the steps 1-5 are executed again.
The invention has the beneficial effects that:
1. multimode monitoring, real-time monitoring: the operation site is monitored in real time in a multimode mode through a visible light camera, an infrared camera, a thermal imaging camera and the like.
2. The fire condition occurs, and the alarm is given in time: the method comprises the steps of collecting field images in real time, comprehensively utilizing machine vision processing methods such as target extraction, feature detection, multi-criterion fusion decision and the like to process in real time, starting alarm once a fire occurs, and sending the alarm in three modes of acousto-optic alarm, bracelet vibration alarm and short message sending.
3. Automatic tracking, target positioning: the normal fire point moves in the visual field of the camera, the holder can automatically move and track, when an abnormal fire point is found, the target is positioned by utilizing the camera calibration information and the multi-type geometric theory, and simultaneously, the image information and the detection result are transmitted to the monitor for displaying.
4. The response is quick, and the precision is accurate: by algorithm optimization and hardware processing, the response speed and the detection precision are improved, the flame identification time is less than 2s, the alarm accuracy rate reaches 95%, and the monitoring error of the fire point coordinate is not more than plus or minus 0.5 m.
5. Local storage and cloud uploading: the abnormal monitoring picture is stored in the local memory in real time and can be uploaded to the cloud server for later retrieval.
6. Broad scope, machine operation: the visual angle range of the lens is large, and the defect that the monitoring range is small by utilizing a sensor is overcome; the machine is automatically operated, and the problem of manual continuous monitoring by using a closed-loop television is solved.
The invention has the advantages of simple hardware module, easy connection and installation, convenient and quick use, flexible debugging of software programs according to requirements, full utilization of machine vision technology and Internet of things technology, important functions in the aspects of reducing manual operation of enterprises, reducing operation cost, improving monitoring efficiency and the like, and capability of being used as an important component part of intelligent factory construction in a new information development stage of modern factories, and overcomes the defects that the existing sensors and closed-loop televisions are only limited to partial theoretical research, neglected of practical application and unreal experiment display, and the practicability is not high.
Drawings
Fig. 1 is a schematic structural diagram of the appearance of the intelligent fire-monitoring and early-warning robot system.
Fig. 2 is a schematic diagram of the connection of the video board and the core board.
FIG. 3 is a schematic diagram of the connection of an industrial personal computer to a core board.
Fig. 4 is a schematic diagram of the connection between the core board and the wireless module.
Fig. 5 is a schematic diagram of hardware connection of the intelligent fire auxiliary monitoring and early warning robot system.
Fig. 6 is a power supply diagram of the power module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 and 5, the intelligent fire-fighting auxiliary monitoring and early warning robot system of the invention comprises: the robot comprises a robot, a control module, a display module, a wireless module and a power supply module. The robot comprises a holder control part and a robot body part; the control module comprises a core board, a video board and an industrial personal computer; the display module comprises a display screen, a visible light camera, an infrared camera, a thermal imaging camera and an alarm lamp; the wireless module comprises a short message module, a Bluetooth module and a WIFI module; the power module is used for supplying power to the robot, the control module, the display module and the wireless module.
The method comprises the following steps that a visible light camera, an infrared camera and a thermal imaging camera in a display module judge whether a suspected flame factor exists in a range or not by extracting the characteristics of flame, the visible light camera and the infrared camera transmit data into a video board, the video board transmits the data into a core board, the thermal imaging camera directly transmits the data into the core board through an industrial personal computer, and the core board identifies and judges whether fire occurs or not by using an algorithm; when judging that there is the fire to appear, nuclear core plate returns data to the video board, the display screen that is connected with the video board shows the position that the fire appears and marks the red frame, nuclear core plate returns data to the industrial computer, the bluetooth that is connected with the industrial computer receives data, instruction in the bluetooth bracelet vibrations and the display warning, and simultaneously, nuclear core plate sends data to rather than the direct SMS module that links to each other, alarm lamp and WIFI module, SMS module receives the warning in the warning, the alarm lamp begins work, the WIFI module is with information issue to the flat board in, operating personnel in time discovers the target and takes the emergency fire extinguishing measure at once.
As shown in fig. 2, the core board in the control module is connected with the video board by receiving and sending serial port data, the STM32F407VET6 core board is selected, the QS-GYE9 video board is selected, the receiving pin of the visible video board is connected with the a9 pin of the core board, the sending pin of the visible video board is connected with the a10 pin of the core board, the receiving pin of the infrared video board is connected with the C12 pin of the core board, and the sending pin of the infrared video board is connected with the D2 pin of the core board; the visible light camera and the infrared camera are both connected to the video board through a USB, and the display screen is connected to the video board through a VGA wire.
As shown in fig. 3, a core board and an industrial personal computer in a control module are connected by receiving and sending serial port data, a J1900 main control computer occupying four cores in the united states is selected, a receiving pin of the main control computer is connected with a pin D5 of the core board, and a sending pin of the main control computer is connected with a pin D6 of the core board; the thermal imaging camera is a customized camera, 1-6 pins are arranged in the camera, 1-4 pins are divided into a sending end and a receiving end which are connected with a network cable, and 5-6 pins are connected with a power module; the Bluetooth module is directly connected to the industrial personal computer through a USB-to-TTL interface.
As shown in fig. 4, a core board in the control module is directly connected with the cradle head, the short message module, the alarm lamp and the WIFI module, a receiving pin of the cradle head is connected with a C6 pin of the core board, and a sending pin of the cradle head is connected with a C7 pin of the core board; the short message module is connected with a USB port of the core board, the alarm lamp is connected to a B3 pin of the core board through an MOS (metal oxide semiconductor) tube, and the WIFI module is connected with a serial port of the industrial personal computer;
as shown in fig. 6, the power module supplies power to the robot itself on one hand, and to the control module, the display module and the wireless module on the other hand. In the control module, a core board, a video board and an industrial personal computer supply a 5V power supply; in the display module, a 12V power supply is supplied to an alarm lamp and a display screen, a 5V power supply is supplied to a visible light camera and an infrared camera through a connecting video board, and a 5V power supply is supplied to a thermal imaging camera through a connecting industrial personal computer; among the wireless module, bluetooth module supplies the 3.3V power, through connect a power conversion module can, short message module and WIFI module supply the 5V power.
The application provides an intelligent fire-driving auxiliary monitoring and early warning robot system and method, which are characterized in that a control module, a display module, a wireless module and a power module are connected with one another, algorithm deep training is applied, flame is identified and judged, cost is saved, operation is flexible, use is convenient, accuracy is high, and a humanized design product scheme is provided.
Finally, the method of the present application is only a preferred embodiment and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. An intelligent fire-driving auxiliary monitoring and early warning robot system is characterized by comprising a robot and a control mechanism;
the robot comprises a robot body and a rotatable holder positioned on the upper part of the robot body, and the control mechanism is positioned in the robot body;
the control mechanism comprises a control module, a display module, a wireless module and a power supply module; the control module is respectively connected with the display module and the wireless module.
2. The intelligent fire-fighting auxiliary monitoring and early-warning robot system as claimed in claim 1, wherein the control module comprises a core board, a video board and an industrial personal computer; the core board is used for receiving the data transmitted by each module and judging whether an alarm command is sent out by an alarm lamp or not according to the data; the video board is used for receiving data of the visible light camera and the infrared camera and transmitting the data into the core board; the industrial computer is used for receiving data of the thermal imaging camera and the Bluetooth module and transmitting the data to the core board.
3. The intelligent fire-monitoring auxiliary early-warning robot system as claimed in claim 1, wherein the display module comprises a display screen, a visible light camera, an infrared camera, a thermal imaging camera and an alarm lamp; the display screen is used for displaying the function of the screen; the camera is used for collecting, filtering and acquiring the color, temperature and morphological characteristics of fire; the alarm lamp is used for sending an alarm instruction;
the visible light camera, the infrared camera, the thermal imaging camera and the alarm lamp are arranged at the top of the robot body through the rotatable holder.
4. The intelligent fire-fighting auxiliary monitoring and early-warning robot system as claimed in claim 1, wherein the wireless transmission module comprises a short message module, a Bluetooth module and a WIFI module; the short message module is used for sending a short message indication in a fire alarm under the condition that the fire is judged to appear; the Bluetooth module is used for sending out bracelet vibration and displaying an instruction in a fire alarm when the condition that fire occurs is judged; and the WIFI module is used for transmitting data to the flat panel interface.
5. The intelligent fire-monitoring and early-warning robot system as claimed in claim 1, wherein the power module is used for supplying power to the robot, the control module, the display module and the wireless transmission module, and the power is supplied by a battery arranged on a body part of the robot.
6. The operation method of the intelligent fire-fighting auxiliary monitoring and early warning robot system based on the claim 1 is characterized by comprising the following steps:
step 1: acquiring external information data through a camera in a display module;
step 2: the visible light camera and the infrared camera transmit external information data to the video board, and the thermal imaging camera transmits the external information data to the industrial personal computer;
and step 3: the Bluetooth module in the wireless transmission module collects external information data through the camera and transmits the external information data to the industrial personal computer, and the WIFI module collects the external information data and transmits the external information data to the core board;
and 4, step 4: the video board and the industrial personal computer transmit the collected information data to the core board;
and 5: the core board extracts flame characteristics through the received data and judges whether a fire source appears, the thermal imaging camera firstly receives temperature information transmitted by a target object, a high-temperature area is locked after receiving the temperature information, then the video board carries out video image acquisition and retrieves the flame information, if the video is judged to be the flame information, an alarm prompt is immediately carried out, and the step 6 or 7 is executed;
step 6: the core board judges whether a fire source appears or not, if so, the data information is sent to an alarm lamp in the display module, and the alarm lamp sends an alarm instruction; sending the data information to a Bluetooth module in the wireless transmission module, and enabling a Bluetooth bracelet of the Bluetooth module to send out vibration and display an instruction in alarming; sending the data information to a short message module in a wireless transmission module, and receiving a short message instruction in a fire alarm by a mobile phone; sending the data information to a WIFI module in the wireless transmission module, marking a fire source by a red frame appearing on the flat interface, and executing the step 8;
and 7: if the core board judges that the fire source does not appear, continuing monitoring and executing the step 1-5;
and 8: the core board sends out an alarm data instruction and continues monitoring at the same time when judging that a fire source appears at a certain position, and the step 10 or 11 is executed;
and step 9: the core board continues monitoring and executes the steps 1-5;
step 10: if a plurality of ignition sources appear at the same time, the data information is simultaneously transmitted into the core board, and the core board simultaneously sends out a plurality of alarm instructions.
Step 11: if no other fire sources appear, the alarm instruction is stopped after 10s, and the steps 1-5 are executed again.
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| CN202011365181.XA CN112396797A (en) | 2020-11-28 | 2020-11-28 | Intelligent fire-driving auxiliary monitoring and early warning robot system and method |
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| CN202011365181.XA CN112396797A (en) | 2020-11-28 | 2020-11-28 | Intelligent fire-driving auxiliary monitoring and early warning robot system and method |
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Application publication date: 20210223 |