CN113442132A - Fire inspection robot based on optimized path and control method thereof - Google Patents
Fire inspection robot based on optimized path and control method thereof Download PDFInfo
- Publication number
- CN113442132A CN113442132A CN202110574449.9A CN202110574449A CN113442132A CN 113442132 A CN113442132 A CN 113442132A CN 202110574449 A CN202110574449 A CN 202110574449A CN 113442132 A CN113442132 A CN 113442132A
- Authority
- CN
- China
- Prior art keywords
- fire
- inspection robot
- image
- main body
- infrared
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 94
- 238000000034 method Methods 0.000 title claims description 24
- 239000000779 smoke Substances 0.000 claims abstract description 15
- 238000005457 optimization Methods 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 9
- 230000011218 segmentation Effects 0.000 claims description 9
- 238000007781 pre-processing Methods 0.000 claims description 3
- 230000002194 synthesizing effect Effects 0.000 claims description 3
- 210000003462 vein Anatomy 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 9
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
Images
Classifications
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Fire-Detection Mechanisms (AREA)
Abstract
The invention provides a fire inspection robot based on an optimized line, which comprises: a main body of the inspection robot; the ultrasonic distance sensor is detachably arranged on the inspection robot main body and can detect the distance between the inspection robot main body and a fire position; the infrared camera is detachably arranged on the inspection robot main body, is coaxially arranged with the ultrasonic distance sensor, and can shoot fire images around the inspection robot main body; the smoke detector is arranged at one end of the inspection robot main body and can detect the smoke concentration of a fire scene; the controller is connected with the ultrasonic distance sensor and the infrared camera, can analyze the fire position distance and the fire image, plans the walking path of the inspection robot main body, and controls the inspection robot main body to move along the walking path.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a fire inspection robot and a path optimization control method thereof.
Background
Along with artificial intelligence's development, fire detection robot is progressively used for fields such as city conflagration suppression, disaster rescue, can effectively practice thrift the human cost, but fire detection robot is in the application, often think of manual remote control operation, gather through the mode that acquires the scene image, weak or when meetting emergency at the transmission signal, produce the erroneous judgement easily, consequently, an automatic formula fire detection robot that patrols and examines urgently need, can realize automated inspection and route planning, with accurate detection fire, and successfully avoid the fire, guarantee detection robot self safety.
Disclosure of Invention
The invention provides a fire inspection robot and a path optimization control method thereof, which can analyze the fire position distance and the fire image, plan the walking path of an inspection robot main body, control the inspection robot main body to move along the walking path, and improve the detection accuracy and the safety.
The invention provides a fire inspection robot based on an optimized line, which comprises:
a main body of the inspection robot;
the ultrasonic distance sensor is detachably arranged on the inspection robot main body and can detect the distance between the inspection robot main body and a fire position;
the infrared camera is detachably arranged on the inspection robot main body, is coaxially arranged with the ultrasonic distance sensor, and can shoot fire images around the inspection robot main body;
the smoke detector is arranged at one end of the inspection robot main body and can detect the smoke concentration of a fire scene;
the controller, its connection ultrasonic wave distance sensor with infrared camera can be right fire position distance with the fire image is analyzed, plans patrol and examine the walking route of robot main part, and control patrol and examine the robot main part and follow the walking route removes.
Preferably, the inspection robot main body includes:
a housing;
a driven axle rotatably supported on the housing;
a drive axle disposed parallel to the driven axle;
the rotating wheel is sleeved on the driven wheel shaft;
and the driving wheel is sleeved on the driving wheel shaft.
Preferably, the inspection robot further comprises a rotating frame supported on the inspection robot body to support the ultrasonic distance sensor and the infrared camera.
Preferably, the rotating frame includes:
the rotating disc is arranged at the top of the inspection robot main body and can rotate around the inspection robot main body by 360 degrees;
a holder capable of holding the ultrasonic distance sensor and the infrared camera;
and the pneumatic support is arranged between the rotating disc and the fixed frame, and the height of the fixed frame can be changed by changing the length of the pneumatic support.
A path optimization control method of a fire inspection robot comprises the following steps:
the method comprises the following steps that firstly, images around a main body of the inspection robot are shot by using an infrared camera, and the fire situation images are preprocessed;
the infrared camera rotates and respectively shoots infrared images of the infrared camera which rotates to 90 degrees, 180 degrees, 270 degrees and 360 degrees from an initial position;
step two, performing pixel-by-pixel sliding on the pixel points in the preprocessed obstacle image, and calculating the local contrast of each pixel point to obtain a local contrast map of the whole image;
step three, performing threshold segmentation on the local contrast map, identifying a fire image in the infrared image, and determining the fire corner;
detecting the distance between the fire position in the identified infrared image and the inspection robot by using an ultrasonic sensor, estimating the height of flame according to the fire position distance and the corner, and detecting the smoke concentration by using the smoke detector;
step five, synthesizing the flame height, the corner and the distance between the fire position and the inspection robot to obtain a path boundary of the inspection robot;
and step six, planning a traveling path of the inspection robot according to the path boundary, and controlling the inspection robot to move along the traveling path.
Preferably, the obstacle image preprocessing process in the first step includes:
step a, performing binarization processing on the collected fire situation image to obtain a binarized obstacle image:
in the formula, I (x, y) is a gray value of a position, thresh is a preset threshold, and f (x, y) is a gray value of a position of the binarized vein image (x, y);
step b, carrying out pixel point segmentation on the binary image to obtain xi (m × n pixel points); wherein m is the number of horizontal pixels, and n is the number of vertical pixels;
and c, respectively carrying out negation and histogram equalization operations on the image after the pixel point segmentation, thereby obtaining the preprocessed fire situation image with the size of m multiplied by n pixels.
Preferably, the calculation formula of the local contrast of the fire image pixel point is as follows:
wherein D ish(x, y) is the local contrast of the fire image at the pixel point at the (x, y) position, fs(x, y) is the mean value of the binarized gray levels of the pixel points at the (x, y) positions, and f (x)c,yc) The binarized gray value of the pixel point at the central position of the fire image area is obtained;
by thresholding the global contrast map: and when the local contrast of the fire pixel points is greater than the threshold value, determining the pixel points as the fire pixel points, traversing the global contrast map, and dividing the boundary of the fire image.
Preferably, the fire corner calculation process is as follows:
traversing the fire image, and searching the coordinates (x) of the central position point of the fire imagez,yz)：
Calculating the fire horizontal rotation angle as follows:
wherein, deltaiThe horizontal rotation angle of the fire, omega is the rotation angle of the infrared image obtained by the infrared camera, M (x)z,yz) The horizontal distance between the fire center position and the infrared image center point, theta is the boundary angle in the horizontal direction of the infrared image obtained by the infrared camera, and XiThe width of a shooting view field of the infrared camera;
calculating the fire pitching angle as follows:
wherein, N (x)z,yz) Is the longitudinal distance, X, between the central position of the fire and the central point of the infrared imagejThe height of the field of view is shot for the longitudinal direction of the infrared camera.
Preferably, the flame height calculation formula is:
wherein HiIs the height of the obstacle, HzThe distance L between the bottom boundary of the fire image and the bottom boundary of the infrared imagezFire position in infrared image identified for detection of ultrasonic sensorDistance of arrangement, benIs the pixel point proportionality coefficient, SzIs the area of the obstacle, mu, in the infrared imageiIs the width of a single pixel point.
Preferably, the fire boundary is:
respectively determining fire images in infrared images in four directions of 90 degrees, 180 degrees, 270 degrees and 360 degrees, and correspondingly obtaining fire distances min { N { in four directionsλ}、min{Nν}、min{NoAnd min { N }π}; will the min { N }λ}、min{Nν}、min{No}、min{NπAnd (4) taking the ring surrounded by the fire inspection robot as a fire boundary, so that the fire inspection robot does ring motion along the boundary.
Advantageous effects
The invention provides a fire inspection robot and a path optimization control method thereof, which can analyze the fire position distance and the fire image, plan the walking path of an inspection robot main body, control the inspection robot main body to move along the walking path, and improve the detection accuracy and the safety.
Drawings
Fig. 1 is a schematic structural diagram of a fire inspection robot based on an optimized path according to the present invention.
Fig. 2 is a schematic structural diagram of the inspection robot main body according to the present invention.
Fig. 3 is a flowchart of a path optimization control method of the fire inspection robot according to the present invention.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. 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.
It should be noted that in the description of the present invention, the terms "in", "upper", "lower", "lateral", "inner", etc. indicate directions or positional relationships based on those shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; may be a mechanical connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1, based on the technical problems of the background art, the present invention provides a fire inspection robot based on an optimized line, including: a main inspection robot body 110, an ultrasonic distance sensor 120, an infrared camera 130, a smoke detector 140, and a controller 150.
The ultrasonic distance sensor 120 is detachably arranged on the inspection robot main body 110 and can detect the distance between the inspection robot main body and a fire position; the infrared camera 130 is detachably arranged on the inspection robot main body 110, is coaxially arranged with the ultrasonic distance sensor, and can shoot fire images around the inspection robot main body; the smoke detector 140 is arranged at one end of the inspection robot main body 110 and can detect the smoke concentration of a fire scene; controller 150 connects ultrasonic distance sensor and 120 infrared camera 130 can be right fire position distance with the fire image is analyzed, plans the walking route of patrolling and examining the robot main part, and control patrolling and examining the robot main part and following the walking route removes.
As shown in fig. 2, the inspection robot main body includes: a housing 111, a driven axle 112, a driving axle 113, a turning wheel 114 and a driving wheel 115.
Wherein the driven wheel shaft 112 is rotatably supported on the housing 111; the driving wheel shaft 113 and the driven wheel shaft 112 are arranged in parallel; the rotating wheel 114 is sleeved on the driven wheel shaft 112;
the driving wheel 115 is sleeved on the driving wheel shaft 114.
Preferably, a rotating frame 116 is further included, which is supported on the inspection robot main body 110 to support the ultrasonic distance sensor and the infrared camera.
In another embodiment, a swivel stand comprises: the rotating disc is arranged at the top of the inspection robot main body 110 and can rotate around the inspection robot main body by 360 degrees; a holder capable of holding the ultrasonic distance sensor and the infrared camera; and the pneumatic support is arranged between the rotating disc and the fixed frame, and the height of the fixed frame can be changed by changing the length of the pneumatic support.
As shown in fig. 3, the present invention also provides a method for path optimization control of a fire inspection robot, comprising:
the method comprises the following steps that firstly, images around a main body of the inspection robot are shot by using an infrared camera, and the fire situation images are preprocessed;
the infrared camera rotates and respectively shoots infrared images of the infrared camera which rotates to 90 degrees, 180 degrees, 270 degrees and 360 degrees from an initial position;
step two, performing pixel-by-pixel sliding on the pixel points in the preprocessed obstacle image, and calculating the local contrast of each pixel point to obtain a local contrast map of the whole image;
specifically, the obstacle image preprocessing process includes:
step a, performing binarization processing on the collected fire situation image to obtain a binarized obstacle image:
in the formula, I (x, y) is a gray value of a position, thresh is a preset threshold, and f (x, y) is a gray value of a position of the binarized vein image (x, y);
step b, carrying out pixel point segmentation on the binary image to obtain xi (m × n pixel points); wherein m is the number of horizontal pixels, and n is the number of vertical pixels;
and c, respectively carrying out negation and histogram equalization operations on the image after the pixel point segmentation, thereby obtaining the preprocessed fire situation image with the size of m multiplied by n pixels.
Preferably, the calculation formula of the local contrast of the fire image pixel point is as follows:
wherein D ish(x, y) is the local contrast of the fire image at the pixel point at the (x, y) position, fs(x, y) is the mean value of the binarized gray levels of the pixel points at the (x, y) positions, and f (x)c,yc) The binarized gray value of the pixel point at the central position of the fire image area is obtained;
by thresholding the global contrast map: and when the local contrast of the fire pixel points is greater than the threshold value, determining the pixel points as the fire pixel points, traversing the global contrast map, and dividing the boundary of the fire image.
Step three, performing threshold segmentation on the local contrast map, identifying a fire image in the infrared image, and determining the fire corner; preferably, the fire corner calculation process is as follows:
traversing the fire image, and searching the coordinates (x) of the central position point of the fire imagez,yz)：
Calculating the fire horizontal rotation angle as follows:
wherein, deltaiThe horizontal rotation angle of the fire, omega is the rotation angle of the infrared image obtained by the infrared camera, M (x)z,yz) The horizontal distance between the fire center position and the infrared image center point, theta is the boundary angle in the horizontal direction of the infrared image obtained by the infrared camera, and XiThe width of a shooting view field of the infrared camera;
calculating the fire pitching angle as follows:
wherein, N (x)z,yz) Is the longitudinal distance, X, between the central position of the fire and the central point of the infrared imagejThe height of the field of view is shot for the longitudinal direction of the infrared camera.
Detecting the distance between the fire position in the identified infrared image and the inspection robot by using an ultrasonic sensor, estimating the height of flame according to the fire position distance and the corner, and detecting the smoke concentration by using the smoke detector;
step five, synthesizing the flame height, the corner and the distance between the fire position and the inspection robot to obtain a path boundary of the inspection robot;
preferably, the fire boundary is:
respectively determining fire images in infrared images in four directions of 90 degrees, 180 degrees, 270 degrees and 360 degrees, and correspondingly obtaining fire distances min { N { in four directionsλ}、min{Nν}、min{NoAnd min { N }π}; will the min { N }λ}、min{Nν}、min{No}、min{NπAnd (4) taking the ring surrounded by the fire inspection robot as a fire boundary, so that the fire inspection robot does ring motion along the boundary.
And step six, planning a traveling path of the inspection robot according to the path boundary, and controlling the inspection robot to move along the traveling path.
Preferably, the flame height calculation formula is:
wherein HiIs the height of the obstacle, HzThe distance L between the bottom boundary of the fire image and the bottom boundary of the infrared imagezFor the ultrasonic sensor to detect the distance of the fire position in the recognized infrared image, benIs the pixel point proportionality coefficient, SzIs the area of the obstacle, mu, in the infrared imageiIs the width of a single pixel point.
The invention provides a fire inspection robot and a path optimization control method thereof, which can analyze the fire position distance and the fire image, plan the walking path of an inspection robot main body, control the inspection robot main body to move along the walking path, and improve the detection accuracy and the safety.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (10)
1. The utility model provides a robot is patrolled and examined in conflagration based on optimize circuit which characterized in that includes:
a main body of the inspection robot;
the ultrasonic distance sensor is detachably arranged on the inspection robot main body and can detect the distance between the inspection robot main body and a fire position;
the infrared camera is detachably arranged on the inspection robot main body, is coaxially arranged with the ultrasonic distance sensor, and can shoot fire images around the inspection robot main body;
the smoke detector is arranged at one end of the inspection robot main body and can detect the smoke concentration of a fire scene;
the controller, its connection ultrasonic wave distance sensor with infrared camera can be right fire position distance with the fire image is analyzed, plans patrol and examine the walking route of robot main part, and control patrol and examine the robot main part and follow the walking route removes.
2. The fire inspection robot based on the optimized line of claim 1, wherein the inspection robot body comprises:
a housing;
a driven axle rotatably supported on the housing;
a drive axle disposed parallel to the driven axle;
the rotating wheel is sleeved on the wheel shaft;
and the driving wheel is sleeved on the driving wheel shaft.
3. The fire inspection robot according to the optimized line based thereon, further comprising a swivel frame supported on the inspection robot body to support the ultrasonic distance sensor and the infrared camera.
4. The optimized line based fire inspection robot according to claim 3, wherein the swivel frame includes:
the rotating disc is arranged at the top of the inspection robot main body and can rotate around the inspection robot main body by 360 degrees;
a holder capable of holding the ultrasonic distance sensor and the infrared camera;
and the pneumatic support is arranged between the rotating disc and the fixed frame, and the height of the fixed frame can be changed by changing the length of the pneumatic support.
5. A path optimization control method of a fire inspection robot using the optimized line-based fire inspection robot according to any one of claims 1 to 4, comprising:
the method comprises the following steps that firstly, images around a main body of the inspection robot are shot by using an infrared camera, and the fire situation images are preprocessed;
the infrared camera rotates and respectively shoots infrared images of the infrared camera which rotates to 90 degrees, 180 degrees, 270 degrees and 360 degrees from an initial position;
step two, performing pixel-by-pixel sliding on the pixel points in the preprocessed obstacle image, and calculating the local contrast of each pixel point to obtain a local contrast map of the whole image;
step three, performing threshold segmentation on the local contrast map, identifying a fire image in the infrared image, and determining the fire corner;
detecting the distance between the fire position in the identified infrared image and the inspection robot by using an ultrasonic sensor, estimating the height of flame according to the fire position distance and the corner, and detecting the smoke concentration by using the smoke detector;
step five, synthesizing the flame height, the corner and the distance between the fire position and the inspection robot to obtain a path boundary of the inspection robot;
and step six, planning a traveling path of the inspection robot according to the path boundary, and controlling the inspection robot to move along the traveling path.
6. The method for controlling route optimization of a fire inspection robot according to claim 5, wherein the obstacle image preprocessing process in the first step includes:
step a, performing binarization processing on the collected fire situation image to obtain a binarized obstacle image:
in the formula, I (x, y) is a gray value of a position, thresh is a preset threshold, and f (x, y) is a gray value of a position of the binarized vein image (x, y);
step b, carrying out pixel point segmentation on the binary image to obtain xi (m × n pixel points); wherein m is the number of horizontal pixels, and n is the number of vertical pixels;
and c, respectively carrying out negation and histogram equalization operations on the image after the pixel point segmentation, thereby obtaining the preprocessed fire situation image with the size of m multiplied by n pixels.
7. The fire inspection robot path optimization control method according to claim 6, wherein the fire image pixel local contrast calculation formula is:
wherein D ish(x, y) is the local contrast of the fire image at the pixel point at the (x, y) position, fs(x, y) is the mean value of the binarized gray levels of the pixel points at the (x, y) positions, and f (x)c,yc) The binarized gray value of the pixel point at the central position of the fire image area is obtained;
by thresholding the global contrast map: and when the local contrast of the fire pixel points is greater than the threshold value, determining the pixel points as the fire pixel points, traversing the global contrast map, and dividing the boundary of the fire image.
8. The fire inspection robot path optimization control method according to claim 7, wherein the fire corner calculation process is:
traversing the fire image, and searching the coordinates (x) of the central position point of the fire imagez,yz)：
Calculating the fire horizontal rotation angle as follows:
wherein, deltaiThe horizontal rotation angle of the fire, omega is the rotation angle of the infrared image obtained by the infrared camera, M (x)z,yz) The horizontal distance between the fire center position and the infrared image center point, theta is the boundary angle in the horizontal direction of the infrared image obtained by the infrared camera, and XiThe width of a shooting view field of the infrared camera;
calculating the fire pitching angle as follows:
wherein, N (x)z,yz) Is the longitudinal distance, X, between the central position of the fire and the central point of the infrared imagejThe height of the field of view is shot for the longitudinal direction of the infrared camera.
9. The fire inspection robot path optimization control method according to claim 8, wherein the flame height calculation formula is:
wherein HiIs the height of the obstacle, HzThe distance L between the bottom boundary of the fire image and the bottom boundary of the infrared imagezFor the ultrasonic sensor to detect the distance of the fire position in the recognized infrared image, benIs the pixel point proportionality coefficient, SzIs the area of the obstacle, mu, in the infrared imageiIs the width of a single pixel point.
10. The fire inspection robot path optimization control method according to claim 9, wherein the fire boundaries are:
respectively determining 90 degrees, 180 degrees, 270 degrees and 3 degreesFire images in the infrared images in four directions of 60 degrees, and correspondingly acquiring fire distances min { N } in the four directionsλ}、min{Nν}、min{NoAnd min { N }π}; will the min { N }λ}、min{Nν}、min{No}、min{NπAnd (4) taking the ring surrounded by the fire inspection robot as a fire boundary, so that the fire inspection robot does ring motion along the boundary.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110574449.9A CN113442132A (en) | 2021-05-25 | 2021-05-25 | Fire inspection robot based on optimized path and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110574449.9A CN113442132A (en) | 2021-05-25 | 2021-05-25 | Fire inspection robot based on optimized path and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113442132A true CN113442132A (en) | 2021-09-28 |
Family
ID=77810239
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110574449.9A Pending CN113442132A (en) | 2021-05-25 | 2021-05-25 | Fire inspection robot based on optimized path and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113442132A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106843240A (en) * | 2017-04-18 | 2017-06-13 | 哈尔滨理工大学 | System is coordinated by fire prevention robot and multimachine based on intelligent video |
| WO2017117686A1 (en) * | 2016-01-08 | 2017-07-13 | 4D Space Genius Inc. | Robot for automated image acquisition |
| CN107520850A (en) * | 2017-08-11 | 2017-12-29 | 国家电网公司 | A kind of Intelligent Mobile Robot |
| CN108058153A (en) * | 2016-11-08 | 2018-05-22 | 丰田自动车株式会社 | Autonomous body and the storage medium for autonomous body |
| CN108284427A (en) * | 2017-11-24 | 2018-07-17 | 浙江国自机器人技术有限公司 | Security robot and its automatic detecting method |
| CN111506074A (en) * | 2020-05-08 | 2020-08-07 | 佳木斯大学 | Machine control method of crop tedding dust collection device |
-
2021
- 2021-05-25 CN CN202110574449.9A patent/CN113442132A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017117686A1 (en) * | 2016-01-08 | 2017-07-13 | 4D Space Genius Inc. | Robot for automated image acquisition |
| CN108058153A (en) * | 2016-11-08 | 2018-05-22 | 丰田自动车株式会社 | Autonomous body and the storage medium for autonomous body |
| CN106843240A (en) * | 2017-04-18 | 2017-06-13 | 哈尔滨理工大学 | System is coordinated by fire prevention robot and multimachine based on intelligent video |
| CN107520850A (en) * | 2017-08-11 | 2017-12-29 | 国家电网公司 | A kind of Intelligent Mobile Robot |
| CN108284427A (en) * | 2017-11-24 | 2018-07-17 | 浙江国自机器人技术有限公司 | Security robot and its automatic detecting method |
| CN111506074A (en) * | 2020-05-08 | 2020-08-07 | 佳木斯大学 | Machine control method of crop tedding dust collection device |
Non-Patent Citations (1)
| Title |
|---|
| 蔡丽等: "《传感器与检测技术应用》", 28 February 2013, 冶金工业出版社 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20210350111A1 (en) | Camera configuration on movable objects | |
| EP2495632B1 (en) | Map generating and updating method for mobile robot position recognition | |
| CN111399505B (en) | Mobile robot obstacle avoidance method based on neural network | |
| WO2020107957A1 (en) | Machine room patrol system and working method therefor | |
| EP2495079B1 (en) | Slip detection apparatus and method for a mobile robot | |
| WO2020244414A1 (en) | Obstacle detection method, device, storage medium, and mobile robot | |
| KR102629036B1 (en) | Robot and the controlling method thereof | |
| CN211554748U (en) | Mine patrol micro unmanned aerial vehicle system | |
| CN113047909B (en) | All-dimensional inspection wheeled robot for underground roadway and underground chamber and control method thereof | |
| Savva et al. | ICARUS: Automatic autonomous power infrastructure inspection with UAVs | |
| Huang et al. | Duckiefloat: a collision-tolerant resource-constrained blimp for long-term autonomy in subterranean environments | |
| WO2023284520A1 (en) | Multi-feature fusion based fire identification system | |
| CN110703760A (en) | Newly-increased suspicious object detection method for security inspection robot | |
| Stuckey et al. | An optical spatial localization system for tracking unmanned aerial vehicles using a single dynamic vision sensor | |
| CN113442132A (en) | Fire inspection robot based on optimized path and control method thereof | |
| CN115826596B (en) | Intelligent thermal power plant chimney inspection method and system based on multi-rotor unmanned aerial vehicle | |
| CN116466724A (en) | Mobile positioning method and device of robot and robot | |
| Megalingam et al. | Adding intelligence to the robotic coconut tree climber | |
| WO2019093885A1 (en) | Obstacle detection using a classifier trained by horizon-based learning | |
| CN114299141A (en) | Two-degree-of-freedom flame recognition device and method applied to fire-fighting robot | |
| TWI700593B (en) | Pollution source searching system and method using flying vehicle | |
| JP2838474B2 (en) | Guidance target capturing method and guidance device for autonomous mobile robot | |
| Rekhawar et al. | Deep learning based detection, segmentation and vision based pose estimation of staircase | |
| McNeil et al. | Real-time classification of water spray and leaks for robotic firefighting | |
| Cui et al. | Coarse-to-fine visual autonomous unmanned aerial vehicle landing on a moving platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210928 |