CN112720406A - Fire-fighting patrol robot, patrol system and flame detection method for rail vehicle factory building - Google Patents
Fire-fighting patrol robot, patrol system and flame detection method for rail vehicle factory building Download PDFInfo
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- CN112720406A CN112720406A CN202011475110.5A CN202011475110A CN112720406A CN 112720406 A CN112720406 A CN 112720406A CN 202011475110 A CN202011475110 A CN 202011475110A CN 112720406 A CN112720406 A CN 112720406A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
The invention provides a fire-fighting patrol robot for a rail vehicle factory building, a patrol system and a flame detection method. This application sets up the walking of track drive robot on the chassis of robot, erects the camera that is used for gathering the flame image through the camera installation on robot base and the base, takes out the water in the water tank according to the corresponding drive jet pump of data that camera and temperature sensor gathered, then puts out a fire through atomising head blowout water smoke. This application can discern flame through the image signal that the camera was shot to put out a fire operation through remote control unit's corresponding operation. The robot of this application collects multiple functions such as putting out a fire, investigation, discharging fume as an organic whole.
Description
Technical Field
The invention relates to the field of fire fighting equipment, in particular to a fire fighting patrol robot for a rail vehicle factory building, a patrol system and a flame detection method.
Background
With the continuous development of the robot technology, a great deal of robots are used in the fields of welding, painting, carrying, assembling, casting and the like in the industrial field. The robot assembly is used for replacing human beings to work in dangerous working environment, and especially when special emergency dangerous situations such as fire, toxic gas and explosion endangering public safety occur, the robot plays an increasingly important role.
In the past four or five years, fire officers and soldiers in China have disastrous casualties when carrying out fire emergency rescue. Which brings disadvantages for further deployment of fire-fighting works. Because fire officers and soldiers need to bear great risk when carrying out the task of putting out a fire and rescuing, consequently need to design automation equipment and avoid fire officers and soldiers direct contact fire source as far as possible, provide the conflagration and rescue.
For the fire-fighting and rescue function, the existing fire-fighting robots can be roughly divided into fire scene reconnaissance robots, fire-fighting robots, smoke exhaust robots, rescue robots, dangerous object leakage detection robots, breaking and dismantling robots and the like. The existing fire-fighting robot has single function and does not have comprehensive operation capacity. In addition, the existing robot is not suitable for operation occasions such as rail vehicle plants and the like due to the overall shape size and the operation mode.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a fire-fighting patrol robot, a patrol system and a flame detection method for a rail vehicle factory building. The invention specifically adopts the following technical scheme.
First, in order to realize above-mentioned purpose, propose a rail vehicle factory building fire control patrol robot, it includes: the chassis system is arranged on two sides of a bottom plate of the robot, and is engaged by a driving wheel arranged on the rear side of the bottom plate of the robot and drives a crawler belt arranged in parallel to the bottom plate to rotate so as to drive the robot to walk; the monitoring system is arranged on a bottom plate of the robot and comprises a base, a camera mounting frame is arranged on the base, a steering engine, a camera mounting platform and a camera fixedly connected with the camera mounting platform are arranged on the camera mounting frame, the steering engine outputs torque to drive the camera mounting frame to move, the camera mounting platform is connected to the top of the camera mounting frame and synchronously moves along with the camera mounting frame to adjust the shooting angle of the camera on the camera mounting platform; the fire fighting system is arranged on the upper portion of a bottom plate of the robot and comprises a ducted fan, an atomizing head, a water pipe, an injection pump, a water tank and a temperature sensor, wherein the water tank is arranged on the rear side of the monitoring system and used for storing water, the injection pump is arranged in the middle of the bottom plate of the robot, the injection pump is connected with the water tank through the water pipe and used for pumping liquid in the water tank into the atomizing head arranged at the front end of the bottom plate so that the atomizing head can spray water outwards, the ducted fan is further arranged on the side edge of the atomizing head and used for driving water mist sprayed outwards by the atomizing head to extinguish fire and discharge smoke forwards, and the temperature sensor is arranged on the front end face of the bottom plate of the; the wireless transceiving control system comprises a picture transmitter, a receiver and a transmitting antenna, wherein the picture transmitter is in communication connection with the camera and is used for transmitting image signals shot by the camera, the receiver is used for being in wireless connection with the transmitting antenna of the remote control device to receive remote control signals, and the transmitting antenna is used for being in wireless connection with the receiving antenna on the remote control device to upload the image signals and/or the ambient temperature to the remote control device.
Optionally, as above any one the rail vehicle factory building fire control patrol robot, wherein, the camera mounting bracket includes: the lower end of the large arm is rotationally connected with the front side of the base, and the outer side of the large arm is connected with a first steering engine for driving the large arm to rotate relative to the base for two times to extend forwards or retract backwards; the lower end of the small arm is connected with the rear side of the base, the upper ends of the large arm and the small arm are respectively connected with the front side and the rear side of the camera mounting platform in a rotating mode, and the outer side of the small arm is connected with a second steering engine for driving the small arm to lift upwards or fall downwards relative to the base to adjust the pitching angle of the camera mounting platform.
Optionally, the railway vehicle factory building fire-fighting patrol robot is characterized in that the base is further provided with a third steering engine, and the third steering engine is used for driving the base to drive the large arm and the small arm arranged on the base to drive the camera mounting platform and the camera arranged on the camera mounting platform to synchronously rotate left and right relative to a bottom plate of the robot; and a fourth steering engine is connected between the camera mounting platform and the camera arranged on the camera mounting platform and is used for driving the camera to rotate relative to the camera mounting platform so as to adjust the shooting angle of the camera.
Optionally, the fire-fighting patrol robot for a rail vehicle factory building as described in any one of the above, wherein the chassis system includes: the driving wheels are arranged at two ends of the rear side of the robot bottom plate; the loading wheels are linearly arranged on two sides of the robot bottom plate and are arranged at the lower part of the robot bottom plate; the inducer is arranged at two ends of the front side of the robot bottom plate; the supporting belt wheels are arranged on two sides of the robot bottom plate and are arranged on the upper part of the robot bottom plate; the crawler belt surrounds the driving wheel, the loading wheel, the inducer and the belt supporting wheel, is arranged on two sides of the bottom plate of the robot, and is driven to rotate along the walking direction of the robot by the meshing of the driving wheel.
Optionally, the fire-fighting patrol robot for a rail vehicle factory building as described in any one of the above, wherein driving teeth engaged with the driving wheel or both the driving wheel and the bogie wheel are provided on both sides of the track; a correcting plate is arranged in the middle of the crawler along the rotating direction of the crawler; and the inducer abuts against the correcting plate and is used for limiting the track to rotate in a direction parallel to the bottom plate of the robot all the time.
Meanwhile, in order to achieve the purpose, the invention also provides a fire patrol system for the rail vehicle factory building, which comprises a remote control device and the robot, wherein the remote control device is internally provided with a remote control singlechip, and the robot is internally provided with a robot singlechip; the remote control singlechip is used for: triggering a control instruction according to user operation, outputting the control instruction to a corresponding robot through a transmitting antenna on a remote control device, and receiving image signals and temperature data uploaded by the corresponding robot through a receiving antenna on the remote control device by the remote control singlechip; the robot singlechip is used for: the robot singlechip is also used for correspondingly uploading image signals shot by a camera of the robot and temperature data collected by a temperature sensor of the robot through a transmitting antenna on the robot.
Based on the design, the application also provides a flame detection method for the fire-fighting patrol robot of the rail vehicle factory building, which comprises the following steps: the method comprises the steps of firstly, acquiring an image signal shot by a camera, and separating pixel data corresponding to an image into three channels of RGB; secondly, screening out a pixel corresponding to a flame area according to RGB three-channel data of a pixel point, and performing binarization processing on the image according to whether the pixel belongs to the flame area or not; and thirdly, performing smooth filtering and mathematical morphology processing on the image after the binarization processing, and marking a corresponding flame area in the processed image.
Optionally, in the flame detection method, in the second step, a pixel corresponding to the flame region is screened out according to the following determination steps according to RGB three-channel data corresponding to the pixel point; recording the red component corresponding to the pixel point as R, recording the green component corresponding to the pixel point as G, and recording the blue component corresponding to the pixel point as B, if the three channel components corresponding to the pixel points satisfy the requirement simultaneously
Judging that the pixel point belongs to the flame area; wherein, R _ T represents a preset red component threshold value, and S _ T represents a preset saturation threshold value; s represents the pixel pointAnd (4) saturation degree.
Optionally, in the flame detection method, in the third step, the mathematical morphology processing performed on the binarized image is a dilation operation.
Advantageous effects
The invention designs a fire-fighting patrol robot for a railway vehicle factory building by comprehensively utilizing motor driving, sensor technology and computer technology, wherein a chassis of the robot is provided with a track to drive the robot to walk, a camera for collecting flame images is installed and erected on a robot base and a camera on the base, a jet pump is correspondingly driven to pump water in a water tank according to data collected by the camera and a temperature sensor, and then water mist is sprayed out through an atomizing head to extinguish fire. This application can discern flame through the image signal that the camera was shot to put out a fire operation through remote control unit's corresponding operation. The robot of this application collect multiple functions such as put out a fire, investigation, discharge fume as an organic whole, can realize wireless picture biography, be applicable to rail vehicle factory building fire control patrol and put out a fire.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of the overall structure of a fire patrol robot for a rail vehicle factory building;
FIG. 2 is a top view of the rail vehicle plant fire patrol robot of the present invention;
FIG. 3 is a bottom view of the railway vehicle factory building fire patrol robot of the present invention;
FIG. 4 is a front view of the rail vehicle plant fire patrol robot of the present invention;
FIG. 5 is a front view of the track drive wheels in the fire patrol robot of the rail vehicle building of the present invention;
fig. 6 is a schematic diagram of an interaction mode between the fire patrol robot and the remote controller in the railway vehicle factory building.
In the drawings, 1 denotes a crawler; 11 denotes a drive tooth; 12 denotes a leveling plate; 2 denotes a driving wheel; 3 denotes a bogie wheel; 4 represents an inducer; 5 denotes a carrier roller; 6 denotes a camera mount; 61 denotes a base; 62 denotes a large arm; 63 denotes the forearm; 7 denotes a camera; 71 denotes a first steering engine; 72 denotes a second steering engine; 73 denotes a third steering engine; 74 denotes a fourth steering engine; 8 denotes a fire fighting system; a ducted fan denoted by 81; 82 denotes an atomizing head; 83 denotes a water pipe; 84 a jet pump; 85 water tank; 86 denotes a temperature sensor; 9 single chip microcomputer; 91 map transmission; 92 a distributor plate; 93 a receiver; 94 a transmit antenna; and 95 denotes a battery.
Detailed Description
In order to make the purpose and technical solution of the embodiments of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" in the present invention means that the respective single or both of them exist individually or in combination.
The meaning of the left and right in the invention refers to that when a user faces the advancing direction of the fire patrol robot in the railway vehicle factory building, the left side of the user is the left side, and the right side of the user is the right side, but the invention is not specially limited to the device mechanism.
The term "connected" as used herein may mean either a direct connection between the components or an indirect connection between the components via other components.
The meaning of up and down in the invention means that when a user faces the fire-fighting patrol robot in a railway vehicle factory building, the direction from the ground to the camera of the robot is up, otherwise, the direction is down, and the device mechanism is not specially limited.
Fig. 1 to 4 show a fire-fighting patrol robot for a rail vehicle factory building, which comprises:
the chassis system is arranged on two sides of a bottom plate of the robot, and is engaged by a driving wheel 2 arranged on the rear side of the bottom plate of the robot and drives a crawler belt 1 arranged in parallel with the bottom plate to rotate so as to drive the robot to walk;
the monitoring system is arranged on a bottom plate of the robot and comprises a base 61, a camera mounting frame 6 is arranged on the base 61, a steering engine, a camera mounting platform and a camera 7 fixedly connected with the camera mounting platform are arranged on the camera mounting frame 6, the steering engine outputs torque to drive the camera mounting frame 6 to move, the camera mounting platform is connected to the top of the camera mounting frame 6 and synchronously moves along with the camera mounting frame 6 to adjust the shooting angle of the camera 7 on the camera mounting platform;
the fire fighting system 8 is arranged on the upper portion of a bottom plate of the robot and comprises a ducted fan 81, an atomizing head 82, a water pipe 83, a jet pump 84, a water tank 85 and a temperature sensor 86, wherein the water tank 85 is arranged on the rear side of the monitoring system and used for storing water, the jet pump 84 is arranged in the middle of the bottom plate of the robot, the jet pump 84 is connected with the water tank 85 through the water pipe 83 and used for pumping liquid in the water tank into the atomizing head 82 arranged at the front end of the bottom plate so that the atomizing head 82 can spray water outwards, the ducted fan 81 is further arranged on the side edge of the atomizing head 82 and used for driving water mist sprayed outwards by the atomizing head 82 to extinguish fire and discharge smoke forwards, and the temperature sensor 6 is arranged on the front end face of the bottom plate of the;
the wireless transceiving control system comprises a map transmitter 91, a receiver 93 and a transmitting antenna 94, wherein the map transmitter 91 is in communication connection with the camera 7 and is used for transmitting image signals shot by the camera 7, the receiver 93 is used for being in wireless connection with the transmitting antenna of the remote control device to receive remote control signals, and the transmitting antenna 94 is used for being in wireless connection with the receiving antenna on the remote control device to upload the image signals and/or the ambient temperature to the remote control device.
In order to realize the control of the robot, a remote controller, an intelligent terminal and other remote control devices are matched with the robot in the application. Referring to fig. 6, in order to realize interactive control and data transmission, the remote control device is provided with a remote control single chip, and the robot is provided with a robot single chip:
wherein, the remote control singlechip is used for: triggering a control instruction according to user operation, outputting the control instruction to a corresponding robot through a transmitting antenna on a remote control device, correspondingly controlling the robot to run or driving a camera mounting rack of the robot to adjust to a proper angle position for shooting a flame image, triggering a jet pump to spray water outwards through an atomizing head for fire extinguishing or triggering a ducted fan for air exhaust when needed, and receiving an image signal and temperature data uploaded by the corresponding robot through a receiving antenna on the remote control device by the remote control singlechip for displaying by a corresponding display device;
the robot singlechip is used for: the robot singlechip is also used for correspondingly uploading image signals shot by a camera 7 of the robot and temperature data collected by a temperature sensor of the robot through a transmitting antenna of the robot.
Referring to fig. 1 and 5 in detail, in the present application, a chassis system of a robot includes: the driving wheels 2 are arranged at two ends of the rear side of the robot bottom plate; the loading wheels 3 are arranged on two sides of the robot bottom plate in a straight line and are arranged at the lower part of the robot bottom plate; inducer 4, it sets up in robot bottom plate front side both ends; the supporting belt wheels 5 are arranged on two sides of the robot bottom plate and are arranged on the upper part of the robot bottom plate; the track 1 is a flexible chain ring which is driven by a driving wheel, surrounds the driving wheel, the loading wheel, the inducer and the carrier roller, is composed of a track shoe, a track pin and the like, surrounds the driving wheel, the loading wheel, the inducer and the carrier roller, and is arranged on two sides of the bottom plate of the robot. The track pin connects the track shoes together to form a track link. Holes are formed in the end portions of the two sides of the track plate to form driving teeth 11 which are used for being meshed with a driving wheel, and therefore the driving wheel can drive the track 1 to rotate along the walking direction of the robot after being meshed with the driving wheel. The middle of the crawler 1 is also provided with a correcting plate 12 along the rotation direction. The aligning plate 12 and the inducer 4 are matched with each other, the inducer 4 is arranged to abut against the aligning plate 12 to align the crawler belt, the crawler belt 1 is limited to rotate in a direction parallel to the bottom plate of the robot all the time, and the crawler belt is prevented from falling off when the vehicle turns or runs in a tilted manner. In the crawler 1, a reinforced anti-skid rib (pattern for short) can be arranged on the surface contacting with the ground so as to improve the firmness of the crawler plate and the adhesive force between the crawler and the ground.
The power source of the chassis system can select a high-torque speed reducing motor, a planetary speed reducing mechanism is adopted to improve torque output, and meanwhile, running noise is reduced and running energy consumption is reduced. Through the combination of high moment of torsion gear motor and track structure, can make the robot of this application more have cross-country ability. The speed regulation of the motor can be realized by 320A bidirectional brush electric regulation. Its input is connected with the power, and the output is connected with the motor, and the principle is transferred to the electricity: the electric regulator is equivalent to a switch, and the control signal is a group of square wave signals and controls the times of switching the electric regulator in unit time.
The utility model provides a robot, its energy supply can adopt 3s lithium cell of 5000 milliamperes of piece, supplies power respectively alone respectively for chassis system, monitored control system, fire extinguishing system. The problem that the working voltages required by all the systems are different is solved through the distribution plate arranged at the bottom of the robot, and the electric quantity loss of the battery caused by voltage conversion can be reduced. The mode that each system independently supplies power can prevent the interference among the systems, thereby improving the running stability of the robot.
The monitored control system that this application robot adopted can set up its camera mounting bracket 6 to including: the lower end of the large arm 62 is rotatably connected with the front side of the base 61, and the outer side of the large arm 62 is connected with a first steering engine 71 which is used for driving the large arm to rotate relative to the base to extend forwards or retract backwards; the lower end of the small arm 63 is connected with the rear side of the base 61, the upper ends of the large arm 62 and the small arm 63 are respectively connected with the front side and the rear side of the camera mounting platform in a rotating mode, and the outer side of the small arm 63 is connected with a second steering engine 72 which is used for driving the small arm to lift upwards or fall downwards relative to the base so as to adjust the pitching angle of the camera mounting platform; the base 61 can be further provided with a third steering engine 73 for driving the base 61 to drive the large arm and the small arm arranged thereon to drive the camera mounting platform and the camera 7 arranged thereon to synchronously rotate left and right relative to the bottom plate of the robot; in order to adjust the shooting angle of the camera, a fourth steering engine 74 is further connected between the camera mounting platform and the camera 7 arranged on the camera mounting platform and used for driving the camera to rotate relative to the camera mounting platform in the direction of a motor shaft different from the third steering engine on the base.
From this, among the monitored control system that the camera belongs to, be connected the chassis system of base with the robot through the screw, through the rotation of control third steering wheel, can drive the base top big, forearm connects the camera and carries out the left turn right turn, thereby through the rotation of control first steering wheel, thereby can drive big arm and carry out the antelope or the retrusion that the swing back and forth realized the camera, the rotation of second steering wheel can drive the forearm and carry out the up-and-down motion, thereby the every single move of control camera, the rotation of fourth steering wheel can control the rotation of camera. All-round inspection can be realized through the action of above four steering engines.
The camera in this application can adopt the infrared 2500 line high definition analog camera watch-dog probes of AHD surveillance camera night vision. The working principle is as follows: the infrared camera emits infrared rays through the infrared lamp to irradiate an object, the infrared rays are subjected to diffuse reflection and are received by the monitoring camera, and a video image is formed. Just as it is lighted by a flashlight in the night, the flashlight is equivalent to an infrared lamp, and the camera is equivalent to a human eyeball, so that the reason is consistent. At this time, the picture formed by the reflection of infrared light is seen, but not the picture formed by the reflection of visible light, and the picture which can not be seen by naked eyes in a dark environment can be shot. The camera transmission adopts a 600mW 5.8G image transmission transmitting system, a transmitting end and a receiving end of the camera transmission transmitting system are both powered by 12 voltages, and the image transmission adopts a 5.8G frequency band, so that interference with a 2.4G communication frequency band of a remote controller can not be generated, a channel can be independently set to enable images to be respectively displayed on a plurality of monitors, the image transmission function is realized, and the transmitting end is connected with a video recording device to store shot images.
In this application, the fire extinguishing system can be installed in the bottom of the car body of robot. Wherein, the input port of the jet pump is connected with the water tank through a hose, and the output port of the jet pump is connected with the atomizing head. The main working principle is as follows: when open fire appears through temperature sensor and/or video image detection, trigger large-traffic jet pump and begin work, spray high-speed high-pressure fire control liquid (can be water also can fire control foam) and go out to drive through the atomising head of high-speed ducted fan front end and spray, and carry out the work of discharging fume, the camera begins passback scene picture, lets the fire fighter know the scene of a fire developments at any time.
The railway vehicle factory building fire patrol robot and the remote control device can interact with each other by means of the wireless control system in the following modes:
the wireless control system mainly comprises a remote control receiver and a temperature return module. The remote control system mainly comprises a remote controller and a receiver, the remote controller is a Huakel D10 remote controller, 10 channels are adopted for setting, a monitoring pan-tilt, a water pump and a ducted fan can be respectively controlled, signals are transmitted to the receiver through the remote controller, the receiver generates pwm signals after receiving the pwm signals and generates corresponding actions for each module, a temperature return module consists of a temperature sensor and a data transmitting and receiving module, the temperature sensor adopted by the robot is a non-contact type temperature measuring instrument, the principle of the temperature sensor is based on the basic law of black body radiation, and the temperature measuring instrument is called as a radiation temperature measuring instrument. Radiation thermometry includes brightness (see optical pyrometer), radiation (see radiation pyrometer) and colorimetry (see colorimeter). The radiation temperature measurement methods can only measure the corresponding photometric temperature, radiation temperature or colorimetric temperature. The temperature measured by the black body (an object which absorbs all radiation and does not reflect light) is the true temperature, the temperature data is communicated through two 51 single-chip microcomputers, the temperature data is displayed through a nixie tube, one single-chip microcomputer is positioned at the bottom of the vehicle body and is transmitted out through connecting a temperature sensor and a transmitting antenna, the other single-chip microcomputer is arranged on the back of a remote controller, the temperature is transmitted to a control end in real time through connecting a receiving antenna and a nixie tube, and the layout of the temperature data transmission device is as shown in figure 6
The chassis system, the monitoring system, the fire fighting system and the wireless control system of the fire patrol robot for the rail vehicle factory building can work in the following cooperation mode. The chassis system adopts a crawler-type structure, and the two speed reducing motors drive the crawler driving wheels, so that the fire-fighting patrol robot for the rail vehicle factory building can be driven to realize the movement modes of moving forwards, rotating, backing and the like. This application carries out communication through receiver and monolithic and two motors of signal control and realization program mixed control of its remote controller all the way, and is fit for the complicated topography in scene of a fire and environment simultaneously, also is fit for that kind of poisonous and harmful gas exceeds standard, the tunnel and the building that collapse that personnel can't arrive. The fire-fighting system is positioned in the chassis and can provide super-strong wind power to effectively and quickly remove toxic and harmful gases in a fire scene. The wireless control system consists of 10 wireless transmitting modules and a receiver, wherein the receiver correspondingly outputs PWM signals to control the motion direction of the fire fighting truck, the control of a tripod head, the control of a water gun and the control of a double-vortex-spraying turbofan by receiving signals of the transmitter. The camera cloud platform system comprises a high-definition micro camera, a receiving screen, a wireless video and audio image transmitter, a TS823 transmitter, an RC832 receiver and a searchlight. The high-definition miniature camera is connected with a wireless video and audio image transmission TS823 transmitter, real-time high-definition images shot by the camera are sent out through the TS823 transmitter, the images are received by the RC832 receiver, and then the real-time high-definition images are displayed on a receiving screen. This application can make the person of controlling can long-range state and the surrounding environment of observing the scene of a fire, can increase the investigation scope through rotation type wide angle camera, then control multi-functional fire prevention robot's direction of motion through wireless control system.
When specifically identifying flames in an image, the method can detect the pixels corresponding to the flames through the following steps:
firstly, acquiring an image signal shot by a camera 7, and separating pixel data corresponding to an image into three channels of RGB;
secondly, screening out pixels corresponding to the flame area according to the RGB three-channel data of the pixel points according to the following requirements: and recording the red component corresponding to the pixel point as R, recording the green component corresponding to the pixel point as G, and recording the blue component corresponding to the pixel point as B, wherein for flame, the red component R and the green component G are large, and the green component G is larger than the blue component B. Considering that the accuracy of the criterion of the single color model is not high enough, the HIS constraint condition can be added on the basis of the RGB criterion, and the following are set: if the three channel components corresponding to the pixel points simultaneously satisfy
Judging that the pixel point belongs to the flame area; wherein R isTIndicating a preset red component threshold, STRepresenting a preset saturation threshold; s represents the saturation of the pixel point; thereby, the image is subjected to binarization processing according to whether the pixel belongs to the flame area or not;
and thirdly, performing smooth filtering and mathematical morphology expansion processing on the image after the binarization processing, and marking a corresponding flame area in the processed image.
Therefore, in order to complete detection of the flame in the middle, a proper threshold condition can be set through RGB criteria, the area of the flame corresponding to the pixel is detected, the original image is binarized, and some noises and discrete points are eliminated and some missing areas are communicated through image processing such as median filtering and mathematical morphology expansion operation. The open source library based on OpenCV realizes the detection of flames.
In the judging process, the selection of the threshold in the criterion is crucial to the flame detection, the threshold is generally set by experience, two sliding bars can be arranged for obtaining the best flame identification effect, the sizes of the thresholds Rt and St are intuitively adjusted through the sliding bars, and the most appropriate value is selected.
Since only the S component in the HIS is needed in the formula, the S component can be directly calculated without using a color model conversion function. After the binary image is obtained, the binary image needs to be preprocessed, missing points are found, and abnormal points are eliminated. Because noise and discrete points exist, smooth filtering is carried out on the image, median filtering is adopted, the median filtering is typical nonlinear filtering, the median of gray values in the neighborhood of the pixel points is used for replacing the gray values of the pixel points, and the elimination of some pixel points which are judged as flames by mistake is facilitated.
Because the color of partial flame is not between red and yellow, the flame cannot be identified, and the communication of the regions needs to be realized, the method can directly act on the binary image of the flame through the most basic expansion operation in the morphological processing of the binary image to realize the communication of the regions, thereby accurately obtaining the distribution condition of the flame regions in the image. .
The above are merely embodiments of the present invention, which are described in detail and with particularity, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present invention, and these changes and modifications are within the scope of the present invention.
Claims (9)
1. The utility model provides a rail vehicle factory building fire control patrol robot which characterized in that includes:
the chassis system is arranged on two sides of a bottom plate of the robot, and is engaged by a driving wheel (2) arranged on the rear side of the bottom plate of the robot and drives a crawler belt (1) arranged in parallel with the bottom plate to rotate so as to drive the robot to walk;
the monitoring system is arranged on a bottom plate of the robot and comprises a base (61), a camera mounting frame (6) is arranged on the base (61), a steering engine, a camera mounting platform and a camera (7) fixedly connected with the camera mounting platform are arranged on the camera mounting frame (6), the steering engine outputs torque to drive the camera mounting frame (6) to move, the camera mounting platform is connected to the top of the camera mounting frame (6) and synchronously moves along with the camera mounting frame (6) to adjust the shooting angle of the camera (7) on the camera mounting platform;
the fire fighting system (8) is arranged on the upper portion of a bottom plate of the robot and comprises a ducted fan (81), an atomizing head (82), a water pipe (83), an injection pump (84), a water tank (85) and a temperature sensor (86), wherein the water tank (85) is arranged on the rear side of the monitoring system and used for storing water, the injection pump (84) is arranged in the middle of the bottom plate of the robot, the injection pump (84) is connected with the water tank (85) through the water pipe (83) and used for pumping liquid in the water tank into the atomizing head (82) arranged at the front end of the bottom plate and used for spraying water outwards from the atomizing head (82), the ducted fan (81) is further mounted on the side edge of the atomizing head (82) and used for driving water mist sprayed outwards from the atomizing head (82) to extinguish fire and exhaust smoke forwards, and the temperature sensor (6) is arranged on the front end face of the bottom plate;
the wireless transceiving control system comprises a picture transmitter (91), a receiver (93) and a transmitting antenna (94), wherein the picture transmitter (91) is in communication connection with the camera (7) and is used for transmitting an image signal shot by the camera (7), the receiver (93) is used for being in wireless connection with the transmitting antenna of the remote control device to receive the remote control signal, and the transmitting antenna (94) is used for being in wireless connection with the receiving antenna on the remote control device to upload the image signal and/or the environment temperature to the remote control device.
2. The rail vehicle factory building fire patrol robot according to claim 1, wherein the camera mounting bracket (6) comprises:
the lower end of the large arm (62) is rotatably connected with the front side of the base (61), and the outer side of the large arm (62) is connected with a first steering engine (71) for driving the large arm to rotate for two times relative to the base to extend forwards or retract backwards;
the lower end of the small arm (63) is connected with the rear side of the base (61), the upper ends of the large arm (62) and the small arm (63) are respectively connected with the front side and the rear side of the camera mounting platform in a rotating mode, and the outer side of the small arm (63) is connected with a second steering engine (72) used for driving the small arm to lift upwards or fall downwards relative to the base to adjust the pitching angle of the camera mounting platform.
3. The fire-fighting patrol robot for the rail vehicle factory building as claimed in claim 2, wherein the base (61) is further provided with a third steering engine (73) for driving the base (61) to drive the large arm and the small arm arranged thereon to drive the camera mounting platform and the camera (7) arranged thereon to synchronously rotate left and right relative to the bottom plate of the robot;
and a fourth steering engine (74) is connected between the camera mounting platform and the camera (7) arranged on the camera mounting platform and is used for driving the camera to rotate relative to the camera mounting platform so as to adjust the shooting angle of the camera.
4. The rail vehicle plant fire patrol robot of claim 1, wherein the chassis system comprises:
driving wheels (2) arranged at two ends of the rear side of the robot bottom plate;
the loading wheels (3) are arranged on two sides of the robot bottom plate in a straight line and are arranged on the lower part of the robot bottom plate;
inducer wheels (4) which are arranged at both ends of the front side of the robot bottom plate;
carrier rollers (5) arranged on both sides of the robot base plate and mounted on the upper part of the robot base plate;
the crawler belt (1) surrounds the driving wheel, the loading wheel, the inducer and the belt supporting wheel, is arranged on two sides of the bottom plate of the robot, and is meshed with the driving wheel to drive the crawler belt (1) to rotate along the walking direction of the robot.
5. The rail vehicle factory building fire patrol robot according to claim 4, wherein both sides of the track (1) are provided with driving teeth (11) which are engaged with the driving wheel (2) or with the driving wheel (2) and the bogie wheel (3) simultaneously;
a correcting plate (12) is further arranged in the middle of the crawler belt (1) along the rotating direction of the crawler belt;
and the inducer (4) is abutted against the correcting plate (12) and used for limiting the track (1) to rotate in a direction parallel to the bottom plate of the robot all the time.
6. A fire-fighting patrol system for a rail vehicle factory building is characterized by comprising a remote control device and the robot as claimed in claims 1 to 5, wherein a remote control singlechip is arranged in the remote control device, and a robot singlechip is arranged in the robot;
the remote control singlechip is used for: triggering a control instruction according to user operation, outputting the control instruction to a corresponding robot through a transmitting antenna on a remote control device, and receiving image signals and temperature data uploaded by the corresponding robot through a receiving antenna on the remote control device by the remote control singlechip;
the robot singlechip is used for: the robot single chip microcomputer is also used for correspondingly uploading image signals shot by a camera (7) of the robot and temperature data collected by a temperature sensor of the robot through a transmitting antenna on the robot.
7. A flame detection method for a fire patrol robot of a rail vehicle factory building is characterized by comprising the following steps:
the method comprises the following steps of firstly, acquiring an image signal shot by a camera (7), and separating pixel data corresponding to an image into three channels of RGB;
secondly, screening out a pixel corresponding to a flame area according to RGB three-channel data of a pixel point, and performing binarization processing on the image according to whether the pixel belongs to the flame area or not;
and thirdly, performing smooth filtering and mathematical morphology processing on the image after the binarization processing, and marking a corresponding flame area in the processed image.
8. The flame detection method according to claim 7, wherein in the second step, pixels corresponding to the flame region are screened out according to the following judgment steps according to RGB three-channel data corresponding to the pixel points;
the red component corresponding to the pixel point is recorded as R, the green component corresponding to the pixel point is recorded as G, the blue component corresponding to the pixel point is recorded as B,
if the three channel components corresponding to the pixel points simultaneously satisfy
Judging that the pixel point belongs to the flame area;
wherein R isTIndicating a preset red component threshold, STRepresenting a preset saturation threshold; and S represents the saturation of the pixel point.
9. The flame detection method according to any of claims 7 to 8, wherein in the third step, the mathematical morphology processing performed on the binarized image is a dilation operation.
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Application publication date: 20210430 |