CN112891803A - Fire-fighting robot based on image recognition - Google Patents
Fire-fighting robot based on image recognition Download PDFInfo
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- CN112891803A CN112891803A CN202110263366.8A CN202110263366A CN112891803A CN 112891803 A CN112891803 A CN 112891803A CN 202110263366 A CN202110263366 A CN 202110263366A CN 112891803 A CN112891803 A CN 112891803A
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- 238000001514 detection method Methods 0.000 claims description 25
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- 239000004744 fabric Substances 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 6
- 239000000203 mixture Substances 0.000 claims description 4
- 238000011895 specific detection Methods 0.000 claims description 3
- 239000002360 explosive Substances 0.000 claims description 2
- 230000015572 biosynthetic process Effects 0.000 abstract description 2
- 238000004880 explosion Methods 0.000 description 2
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Images
Classifications
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
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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
- A62C37/00—Control of fire-fighting equipment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
Abstract
The application discloses fire-fighting robot based on image recognition, including the robot main part department disposes portrait identification system and thermal imaging detecting system, and wherein, portrait identification system is used for discerning the human body in the fire scene and reports an emergency and identification result according to the identification result output, thermal imaging detecting system is used for discerning the flame state, and the site controller basis of robot main part department the operating condition of the shower nozzle in the robot main part is adjusted to the testing result basis of portrait identification system and thermal imaging detecting system. This application can be through listening personnel and the active state in the scene of a fire to carry out the pertinence and cure, improve personnel's treatment efficiency, can realize the distribution of flame condition to the scene of a fire through the principle of heat energy formation of image in addition, realize the action of putting out a fire of pertinence, improve the efficiency of putting out a fire.
Description
Technical Field
The application relates to the technical field of fire safety equipment, in particular to a fire-fighting robot based on image recognition.
Background
With the rapid development of social economy and the particularity of construction and enterprise production, the accident potential of leakage, combustion, explosion and collapse of chemical dangerous goods and radioactive substances is increased, and the accident probability is correspondingly improved. In case of disaster accidents, when the firemen face high temperature, darkness, toxicity, dense smoke and other harmful environments, if no corresponding equipment rushes into the scene, the firemen can not complete the task and can also casualties in vain. Various large petrochemical enterprises, tunnels, subways and the like are continuously increased, and the hidden dangers of oil product gas and toxic gas leakage explosion, tunnel collapse, subway collapse and the like are continuously increased. The disasters have the characteristics of strong burst property, complex disposal process, huge harm, difficult prevention and control and the like.
The fire-fighting robot is one of special robots and plays a role in fighting fire and rescuing more and more. The fire-fighting robot can replace fire-fighting rescue personnel to enter dangerous disaster accident sites such as inflammable, explosive, toxic, anoxic and dense smoke for data acquisition, processing and feedback, and effectively solves the problems of insufficient personal safety and data information acquisition and the like of the fire-fighting personnel in the places. The field commander can make scientific judgment on the disaster situation in time according to the feedback result and make correct and reasonable decision on the field work of the disaster accident. However, many of the existing fire-fighting robots perform fire extinguishing work under a state of manual control by a self-propelled robot main body, and the functions thereof are relatively single, and thus the fire-fighting robots cannot actively cope with fire conditions and personnel rescue.
Disclosure of Invention
It is an object of the present application to overcome the above problems or to at least partially solve or mitigate the above problems.
According to one aspect of the application, a fire-fighting robot based on image recognition is provided, which comprises a robot main body, wherein a portrait recognition system and a thermal imaging detection system are arranged at the robot main body, the portrait recognition system is used for recognizing human bodies in a fire scene and outputting alarms and recognition results according to the recognition results, the thermal imaging detection system is used for recognizing flame states, and a scene controller at the robot main body adjusts the working state of a spray head in the robot main body according to the detection results of the portrait recognition system and the thermal imaging detection system.
Optionally, the portrait recognition system adopts a fuzzy recognition algorithm to recognize the image and the activity state of the personnel in the fire scene and output information to a console at the rear end.
Furthermore, the spray head is adjusted to be switched between a direct injection type or a scattering type according to the detected activity state of the personnel, so that the personnel in the fire scene are rescued.
Further, a mask wet cloth is disposed in the robot body, and the mask wet cloth is thrown to a person when the person is successfully identified.
Optionally, the thermal imaging detection system adopts a thermal energy photographic device, obtains thermal energy distribution in a fire scene by photographing, and adjusts the spray head to spray on the thermal energy concentrated area.
Further, a heat energy threshold value is configured in the robot body, a heat energy image shot by the thermal imaging detection system is compared with the heat energy threshold value, different levels of alarms are sent out according to the comparison result, and an early warning prompt is sent out to a console at the rear end.
Optionally, a smoke detector for detecting the smoke concentration in the fire and a chemical composition analysis device for detecting flammable and combustible chemical components in the fire are also provided.
Further, the specific detection components of the chemical component analysis apparatus are configured and set according to the input of the console.
Optionally, a collision detection system is also configured at the robot body for identifying obstacles in the fire scene and planning the travel track.
Furthermore, a buzzer alarm and a warning lamp are arranged in the robot main body.
Compared with the prior art, the beneficial effect of this application lies in:
the utility model provides a fire-fighting robot based on image recognition can be through listening personnel and the active state in the scene of a fire to carry out pertinence ground treatment, improve personnel's treatment efficiency, can realize the pertinence action of putting out a fire to the scene of a fire flame distribution condition through the principle of heat energy formation of image in addition, improve the efficiency of putting out a fire.
Furthermore, through monitoring smoke and chemical composition detection in the fire scene, the fire scene condition can be analyzed in a targeted manner, so that visual data is provided for fire fighting, basis is provided for establishment of a fire fighting scheme, and the working safety of firemen is improved while the fire fighting efficiency is improved.
The above and other objects, advantages and features of the present application will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the present application will be described in detail hereinafter by way of illustration and not limitation with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
fig. 1 is a schematic block diagram of a fire fighting robot based on image recognition according to an embodiment of the present application.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The scheme provides a fire-fighting robot based on image recognition, which comprises a robot main body, wherein a portrait recognition system and a thermal imaging detection system are arranged at the robot main body, the portrait recognition system is used for recognizing a human body in a fire scene and outputting an alarm and a recognition result according to the recognition result, the thermal imaging detection system is used for recognizing a flame state, and a field controller at the robot main body adjusts the working state of a spray head in the robot main body according to the detection results of the portrait recognition system and the thermal imaging detection system, as shown in fig. 1.
The robot main body may further include a fire extinguishing chamber, and a driving device, wherein dry powder or water or other fire extinguishing substances are carried in the fire extinguishing chamber, and the driving device is used for driving the robot main body to move.
Specifically, the portrait recognition system adopts a fuzzy recognition algorithm to recognize the image and the activity state of the personnel in the fire scene and output information to a console at the rear end.
Personnel in a fire scene are complicated in condition, can cause non-targeted protection due to confusion, such as wet cloth covering the mouth and nose, squatting and low-lying, and the like, and even can cause personnel coma due to smoke or collision, so that the fire-fighting robot is required to give an alarm prompt, and targeted treatment is required to be realized according to the specific dynamic state of the personnel, so that the working diversity of the fire-fighting robot and the timeliness of the fire-fighting treatment are improved.
For example, for personnel in a fire scene, under the condition that the temperature of the personnel in the scene is too high and even the personnel have flames, the spraying direction and the working mode of the spray head on the robot main body are immediately adjusted, the working mode is switched between direct injection type and scattering type, and the personnel in the fire scene are subjected to fire extinguishing, cooling and other targeted rescue.
Further, the robot body is provided with a mask wet cloth, and the mask wet cloth is thrown to a person when the person is successfully identified, so that the safety of the handling of the person can be improved.
Specifically, the thermal imaging detection system adopts a thermal energy photographic device, obtains thermal energy distribution in a fire scene through photographing, and adjusts a spray head to spray in a thermal energy concentrated area.
Furthermore, a heat energy threshold value is configured in the robot body, the field controller compares the heat energy image shot by the thermal imaging detection system with the heat energy threshold value, and sends out different levels of alarms and early warning prompts to a console at the rear end according to the comparison result.
In summary, the fire-fighting robot based on image recognition can detect personnel and the activity state thereof in a fire scene, so that the personnel can be pertinently treated, the treatment efficiency of the personnel is improved, and in addition, the fire-fighting action can be pertinently realized and the fire-fighting efficiency is improved for the fire scene flame distribution condition through the heat energy imaging principle.
Optionally, a smoke detector for detecting the smoke concentration in the fire scene and a chemical component analysis device for detecting flammable and combustible chemical components in the fire scene are also provided in the robot body. Through monitoring smog and chemical composition to in the scene of a fire detect, can carry out the analysis of pertinence to the scene of a fire condition to provide visual data for fire control extinguishment, provide the basis for the establishment of the scheme of putting out a fire, when improving the fire extinguishing efficiency, improve fireman's work safety nature.
In order to improve the detection accuracy, shorten the detection time and improve the detection pertinence, the specific detection components of the chemical component analysis device are configured and set according to the input of a control console.
In addition, the robot main body is also provided with a collision detection system for identifying obstacles in a fire scene and planning an advancing track, so that the effective work of the fire-fighting robot is ensured.
In order to better alarm and prompt, a buzzing alarm and a warning lamp are arranged in the robot main body, so that personnel in a fire scene can find the fire-fighting robot conveniently, meanwhile, effective prompt can be given to firemen, and the working performance of the fire-fighting robot is improved.
The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A fire-fighting robot based on image recognition comprises a robot main body and is characterized in that a portrait recognition system and a thermal imaging detection system are arranged at the robot main body, wherein the portrait recognition system is used for recognizing a human body in a fire scene and outputting an alarm and a recognition result according to the recognition result, the thermal imaging detection system is used for recognizing a flame state, and a field controller at the robot main body adjusts the working state of a spray head in the robot main body according to the detection results of the portrait recognition system and the thermal imaging detection system.
2. A fire fighting robot based on image recognition as recited in claim 1, wherein the human image recognition system uses a fuzzy recognition algorithm to recognize the human image and activity status in the fire scene and output information to a console at the back end.
3. A fire fighting robot as recited in claim 2, wherein the sprinklers are adjusted to switch between direct and diffuse according to the detected activity status of the person to provide assistance to the person in the fire.
4. A fire fighting robot based on image recognition as recited in claim 2, wherein a mask wet cloth is disposed in the robot main body, and the mask wet cloth is thrown to a person when the person is successfully recognized.
5. A fire-fighting robot based on image recognition as recited in claim 1, wherein the thermal imaging detection system employs a thermal imaging device, the thermal distribution in the fire scene is obtained by photographing, and the nozzle is adjusted to spray on the thermal concentrated area.
6. A fire-fighting robot based on image recognition as recited in claim 1 or 5, wherein a thermal energy threshold is configured in the robot body, the thermal energy image captured by the thermal imaging detection system is compared with the thermal energy threshold, different levels of alarms are issued according to the comparison result, and an early warning prompt is issued to a console at the rear end.
7. A fire fighting robot based on image recognition as recited in claim 1, further configured with a smoke detector for detecting smoke concentration in a fire scene and a chemical component analysis device for detecting flammable and explosive chemical components in the fire scene.
8. An image recognition-based fire fighting robot as recited in claim 7, wherein the specific detection components of said chemical composition analysis device are configured and set according to the input of the console.
9. A fire fighting robot based on image recognition as recited in claim 1, characterized in that a collision detection system is further configured at the robot body for recognizing obstacles in the fire scene and planning the travel track.
10. A fire fighting robot based on image recognition as recited in claim 1, wherein a buzzer warning device and a warning lamp are provided in the robot main body.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110263366.8A CN112891803A (en) | 2021-03-11 | 2021-03-11 | Fire-fighting robot based on image recognition |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110263366.8A CN112891803A (en) | 2021-03-11 | 2021-03-11 | Fire-fighting robot based on image recognition |
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| CN112891803A true CN112891803A (en) | 2021-06-04 |
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| CN202110263366.8A Pending CN112891803A (en) | 2021-03-11 | 2021-03-11 | Fire-fighting robot based on image recognition |
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Application publication date: 20210604 |