CN115382125A - Positioning and fire extinguishing method for infrared thermal imaging water cannon - Google Patents
Positioning and fire extinguishing method for infrared thermal imaging water cannon Download PDFInfo
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- A—HUMAN NECESSITIES
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Abstract
The invention relates to a positioning fire-extinguishing method of an infrared thermal imaging water cannon, which comprises the following steps: an image signal of a detection area is generated by the infrared thermal scanning imaging detector, the motor is controlled to rotate so as to adjust the visible light analysis detector to position, and the infrared thermal imaging water cannon is adjusted to be in an adaptive position to extinguish fire. The invention has the beneficial effects that: the fire-extinguishing emergency-operation early-stage fire early-stage system is convenient to use and simple to operate, the emergency-operation fire-extinguishing function and the far-infrared-scanning early-stage fire early-stage warning function are matched, the uncontrollable fire behavior is avoided, the fire point can be automatically positioned and emergently processed, the safety of processing personnel is guaranteed, the loss caused by fire is reduced, the system can be automatically reset after the fire is extinguished, unmanned automatic inspection is comprehensively realized, and the system has practicability and wide application range.
Description
Technical Field
The invention relates to the technical field of automatic fire extinguishing, in particular to a positioning fire extinguishing method of an infrared thermal imaging water cannon.
Background
With the closing of coal yards, the main fuel of thermal power plants is coal, and the mixed gas of methane and the like secreted by the coal and the dust distributed after the closing are difficult to discharge through unpowered shutters. The coal pile can generate heat and spontaneous combustion frequently due to the contact of coal and air, personal safety of coal yard operation personnel and operation of equipment are threatened after spontaneous combustion of a closed coal yard occurs, great fire accident potential is brought to safety production, great loss is caused, the problem that coal yard fires are caused by spontaneous combustion of the coal pile is troubled a lot of related enterprises for a long time, and the key problem of closed coal yard management work is that how to timely and early monitor and early warn the temperature of the coal pile after the coal yard is closed, and smoke is found early, the abnormal situation of site temperature is solved, pile turning is timely carried out, accurate watering and cooling are carried out, the temperature of the coal pile is controlled, and accidents caused by coal combustion are prevented.
Because the coal yard is sealed after being totally closed, a large amount of coal dust pollution is generated in the coal taking and stacking process of the stacker-reclaimer. The dust in the bin can be mainly divided into settleable dust and non-settleable dust, the dust which is easy to cause dust explosion is mainly settleable dust or the settleable dust and the non-settleable dust are in a crossed dense area, and the dust is mainly concentrated in the middle upper area of a coal yard, such as the height of the coal yard is 50 meters, and the dust is mainly concentrated at the height of 20-40 meters. The lower limit value of coal dust explosion is 35g/m < 3 >, and once dust cloud is formed, explosion can be caused when the dust cloud meets open fire. Therefore, how to strengthen the precaution is the key for preventing the coal dust explosion in the bin, and how to stop the occurrence of open fire and the like.
At present, a traditional manual inspection mode is mainly adopted in a domestic power plant coal yard, operation and maintenance personnel are relied on to inspect the temperature rise of a coal pile and prevent spontaneous combustion and the like through visual inspection, contact temperature measurement and other modes, and only a flame detector in the coal yard can give an alarm after spontaneous combustion occurs. So low, with the mode work efficiency that comes the manual work to patrol and examine, with high costs, extravagant manpower and materials, and the scene takes place spontaneous combustion and relies on the unable accurate cooling of reliable effectual completion of people and put out a fire, and operating mass relies on the physical and mental state of fortune dimension personnel during operation.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a positioning fire-extinguishing method of an infrared thermal imaging water cannon.
In a first aspect, a method for locating and extinguishing a fire of a thermal infrared image water cannon is provided, which comprises the following steps:
s1, covering the whole detection area with the visual field range of an infrared thermal scanning imaging detector, and scanning the ultraviolet and infrared areas through the infrared thermal scanning imaging detector and forming original image data when ultraviolet rays and infrared rays exist in the detection area;
s2, preprocessing the original image data to obtain a preprocessing result;
s3, according to the preprocessing result, generating a weak voltage through the infrared thermal scanning imaging detector, and processing the weak voltage to generate an image signal;
s4, the main control board receives the image signal and generates a first control instruction according to the image signal to control the rotation of the motor so as to adjust the visible light analysis detector to position and generate positioning information; the motor comprises a horizontal adjusting motor and a vertical adjusting motor;
s5, the main control board receives the positioning information, triggers a control signal to the horizontal adjusting motor and the vertical adjusting motor through an embedded algorithm, and is used for respectively controlling the horizontal adjusting motor to horizontally rotate and the vertical adjusting motor to vertically rotate so as to adjust the thermal infrared imaging water cannon to be stopped at an adaptive position;
and S6, continuously monitoring the fire point condition by the visible light analysis detector, automatically resetting if the flame is extinguished, and continuously monitoring.
Preferably, in S5, the embedded algorithm includes a position-based algorithm and an incremental algorithm, and the formula of the position-based algorithm is as follows:
Pout(t)＝Kp*e(t)+Ki*∑e(t)+Kd*(e(t)-e(t-1))
the formula of the incremental algorithm is as follows:
Pdlt＝Kp*(e(t)-e(t-1))+Ki*e(t)+Kd*(e(t)-2*e(t-1)+e(t-2))
kp is a proportional coefficient, ki is an integral coefficient, kd is a differential coefficient, and t is time.
Preferably, S2 comprises:
s201, carrying out histogram statistics on the original image data to obtain a histogram array, calculating a preset lowest thermal radiation threshold value in the histogram array to be T1, calculating an image quantization threshold value to be T2, and carrying out binarization on the original image data by taking the T2 as a threshold value to obtain a binary image;
s202, searching a connected region in the binarized image, and solving dynamic parameters of the maximum connected region, wherein the dynamic parameters comprise the center C1, the area A1, the perimeter P1 and the number Sc of sharp corners of the maximum connected region, if the area A is less than or equal to T3, the frame binarized image meets the flame condition, and the step 3 is executed, otherwise, the step 1 is executed, wherein T3 is a preset area threshold value;
s203, setting the initial value of the number count of the images meeting the flame condition to be 0, adding 1 to the count of the images meeting the flame condition if the binary image is the first frame of image meeting the flame condition, and recording the center C2, the area A2 and the perimeter P2 of the binary image;
and S204, if the figure count value meeting the flame condition is greater than T4, the fire condition is considered to occur, a fire alarm signal is output, otherwise, the number count value of the figures meeting the flame condition is assigned to be 0, wherein T4 is a preset threshold value.
Preferably, the visible light analysis detector continues to monitor the fire point condition, and if the pixels exceeding the threshold value T3 are not included in the original image data, it is determined that the flame has been extinguished, and the visible light analysis detector automatically resets and continues to monitor the flame.
Preferably, in S6, the automatic reset specifically includes:
s601, feeding back information for extinguishing flames to the main control board, transmitting the information to a host by the main control board, and processing the information by the host;
s602, the main control board receives closing information sent by the host;
s603, closing the infrared thermal image water cannon according to the closing information;
s604, adjusting the nozzle of the thermal infrared image water cannon to an original angle through the vertical adjusting motor;
s605, horizontally rotating the infrared thermal imaging water cannon to the original position through the horizontal adjusting motor.
In a second aspect, a thermographic water monitor is provided for performing the method for locating and extinguishing a fire of the thermographic water monitor of any of the first aspects, comprising: the system comprises a pipeline, a jet pipe orifice, a main control board, an infrared thermal scanning imaging detector, a visible light analysis detector, a horizontal adjusting motor, a vertical adjusting motor, a field manual control box and a host;
the horizontal adjusting motor and the vertical adjusting motor are arranged on the pipeline; the infrared thermal scanning imaging detector and the visible light analysis detector are connected with the injection pipe orifice; the main control board is in communication connection with the infrared thermal scanning imaging detector, the visible light analysis detector, the horizontal adjusting motor, the vertical adjusting motor and the host; and the field manual control box is in communication connection with the infrared thermal scanning imaging detector.
Preferably, the horizontal adjusting motor is connected to the lower end of the pipeline, the vertical adjusting motor is connected to the middle section of the pipeline, the horizontal adjusting motor is used for achieving horizontal 360-degree rotation adjustment, and the vertical adjusting motor is used for adjusting the angle of the injection pipe orifice.
Preferably, the pipeline is further provided with a pressure gauge for detecting the water pressure passing through the pipeline.
Preferably, the temperature measuring range of the infrared thermal scanning imaging detector is-10 ℃ to +300 ℃.
Preferably, the host comprises a user management module, a remote control module, an alarm management module, an equipment disconnection detection module and a storage and query module;
the user management module is used for supporting addition of users, user password management and user permission setting;
the remote control module is used for realizing the control of remote equipment, calling far infrared, near infrared and visible image data, and remotely carrying out the fire hazard breaking and cooling treatment through the remote control fire extinguishing device;
the alarm management module is used for receiving alarm information of the main control board;
the equipment management module is used for searching, adding and deleting the temperature measurement type fire-fighting linkage fire-extinguishing cooling device;
the equipment disconnection detection module is used for actively sending out an equipment disconnection alarm when the equipment is disconnected;
the storage and query module is used for recording various alarm and operation information in detail, and storing and querying data.
The invention has the beneficial effects that: the infrared thermal imaging water monitor provided by the invention is convenient to use and simple to operate, the emergency operation fire extinguishing function is matched with the far infrared scanning early fire early warning function, the uncontrollable fire behavior is avoided, the automatic positioning and emergency treatment can be carried out on fire points, the time for emergency rescue personnel to arrive at the site is won, the safety of the treatment personnel is ensured, the loss caused by fire is reduced, the automatic reset can be realized after the fire extinguishing is finished, the unmanned automatic inspection is comprehensively realized, and the infrared thermal imaging water monitor has practicability and wide application.
Drawings
FIG. 1 is a schematic structural view of an infrared thermographic water cannon provided by the present invention;
FIG. 2 is a cross-sectional view of an infrared thermographic water cannon provided by the present invention;
description of reference numerals: 1. the device comprises a pipeline 2, a spray pipe orifice 3, an infrared thermal scanning imaging detector 4, a visible light analysis detector 5, a horizontal adjusting motor 6 and a vertical adjusting motor.
Detailed Description
The present invention will be further described with reference to the following examples. The following examples are set forth merely to aid in the understanding of the invention. It should be noted that modifications can be made to the invention by a person skilled in the art without departing from the principle of the invention, and these modifications and modifications also fall within the scope of the claims of the invention.
Example 1:
an infrared thermographic water cannon, as shown in fig. 1 and 2, comprising: the device comprises a pipeline 1, a jet pipe orifice 2, a main control board, an infrared thermal scanning imaging detector 3, a visible light analysis detector 4, a horizontal adjusting motor 5, a vertical adjusting motor 6, a field manual control box and a host;
wherein, the injection nozzle 2 is arranged at the tail end of the pipeline 1, and the horizontal adjusting motor 5 and the vertical adjusting motor 6 are arranged on the pipeline 1; the infrared thermal scanning imaging detector 3 and the visible light analysis detector 4 are connected with the injection pipe orifice 2; the main control board is in communication connection with the infrared thermal scanning imaging detector 3, the visible light analysis detector 4, the horizontal adjusting motor 5, the vertical adjusting motor 6 and the host; the field manual control box is in communication connection with the infrared thermal scanning imaging detector 3.
The main control board is used for regulating and controlling the horizontal regulating motor 5 and the vertical regulating motor 6, the infrared thermal scanning imaging detector 3 is used for identifying and alarming naked flame, high temperature and smoldering, the visible light analysis detector 4 is used for tracking and positioning naked flame, high temperature and smoldering areas, the field manual control box is used for checking and locally operating images collected by the infrared thermal scanning imaging detector 3, and the host is used for carrying out alarm recording, alarm information inquiry, remote control and remote parameter modification.
This application does not inject the quantity of thermal infrared imagery water cannon, and a plurality of thermal infrared imagery water cannons have a plurality of main control boards, carries out water cannon water spray control through a plurality of main control boards, and effective water economy resource, simultaneously, can also realize accurate putting out a fire.
Fixed infrared thermal scanning imaging detector 3 that sets up in one side of the injection mouth of pipe 2 at pipeline 1 end, the fixed visible light analytical detector 4 that sets up in 3 one sides of infrared thermal scanning imaging detector, simultaneously, infrared thermal scanning imaging detector 3 and visible light analytical detector 4 can also carry out integrative fixed connection through the protective housing, conveniently track the location when carrying out infrared thermal scanning imaging detector 3 scanning naked light, high temperature, smoldering region, and the precision is high. The host has the function of storing the alarm pictures of the hot smoke, fire and fire conditions in real time. After the fire fighters arrive at the scene, the fire point and the fire reason can be judged according to the initial fire chart and the picture of fire and smoke. Even if the smoke in the fire scene is diffused, the fire fighter can still accurately find the fire position by looking back the fire information and the alarm picture storage function at the fastest time of fire, and take effective measures to extinguish the fire.
The visible light analysis detector 4 is composed of black and white and color, and forms an infrared, black and white and color three-channel flame identification and processing algorithm.
In addition, the pipeline 1 is also provided with a pressure gauge for detecting the water pressure passing through the pipeline. The temperature measuring range of the infrared thermal scanning imaging detector 3 is-10 to +300 ℃.
The interlude of pipeline 1 is the U-shaped structure, and the both ends of U-shaped structure are connected injection pipe mouth 2 respectively and are used for connecting the output water source, perhaps connect fire hydrant etc.. And horizontal adjustment motor 5 is connected on the water inlet end of pipeline 1, and perpendicular adjustment motor 6 sets up on the tip of pipeline 1 for adjust the angular rotation of injection pipe mouth 2, spray in order to adapt to accurate location, automatic regulation is effectual. Compared with a traditional fire monitor system, the product can realize whole unmanned operation, and can perform one-by-one cooling covering action on a multipoint high-temperature area and a smog occurrence area, and the pre-judgment angle is automatically calculated through a cooling fire extinguishing medium spraying parabola principle and a mechanical three-dimensional space value principle, so that accurate movable type striking covering is realized. The automatic cruise control system does not need personnel to intervene in the automatic cruise operation of equipment, does not need the field operation of personnel, makes up the hidden range that the field can not be prevented in time, and simultaneously makes up the inaccuracy, instability and danger of a human operation machine.
The main control board adopts a high-integration ArmM3 kernel embedded system, and can realize the functions of thermal imagery, black-white and color image acquisition, encoding, decoding, water cannon control and the like. The system adopts a real-time Linux operating system, is developed by C + + language, and has the characteristics of high efficiency and high reliability. The mainboard adopts many CPU designs, has integrateed Arm kernel and DSP kernel, can realize the high accuracy control to the water cannon motor, adopts high-speed large capacity relay during the control, can realize the accurate regulation and control to various medium and low power's motor, valve, water pump.
The host comprises a user management module, a remote control module, an alarm management module, an equipment offline detection module and a storage and query module;
the user management module is used for supporting addition of users, user password management and user authority setting; two kinds of user rights, an administrator right and a common user right, are provided. Ordinary users do not have device management and map management rights.
The remote control module is used for realizing the control of remote equipment, calling far infrared, near infrared and visual image data, and remotely carrying out the fire hazard breaking and cooling treatment through the remote control fire extinguishing device.
The alarm management module is used for receiving alarm information of the main control board.
The equipment management module is used for searching, adding and deleting the temperature measurement type fire-fighting linkage fire-extinguishing cooling device.
The equipment disconnection detection module is used for actively sending out equipment disconnection alarm when the equipment is disconnected.
The storage and query module is used for recording various alarm and operation information in detail, storing and querying data, storing not less than 10000 pieces of historical data and providing complete data query.
The host computer adopts an industrial computer to realize remote control and parameter setting of the water cannon, and the host computer and the water cannon adopt Ethernet communication. The host computer adopts a Window system, adopts a Microsoft net development platform and adopts C # language for development. The system is developed by adopting a completely object-oriented language, displays pages and background logic completely classified by utilizing an Mvvm development mode, and can be conveniently deployed by using a Sqlite small database.
Example 2:
a positioning fire extinguishing method for an infrared thermal imaging water cannon comprises the following steps:
s1, covering the whole detection area with the visual field range of an infrared thermal scanning imaging detector, and scanning the ultraviolet and infrared areas through the infrared thermal scanning imaging detector and forming original image data when ultraviolet rays and infrared rays exist in the detection area.
Before S1, the infrared thermal scanning imaging detector is required to be arranged in the center of the detection area, so that the visual field range of the infrared thermal scanning imaging detector covers the whole detection area.
And S2, preprocessing the original image data to obtain a preprocessing result.
S2 comprises the following steps:
s201, carrying out histogram statistics on original image data to obtain a histogram array, calculating a preset lowest thermal radiation threshold value in the histogram array to be T1, calculating an image quantization threshold value to be T2, and carrying out binarization on the original image data by taking the T2 as a threshold value to obtain a binarization image; the image acquisition is convenient like this, and the gradient is high simultaneously.
In particular, a histogram is an accurate graphical representation of the distribution of numerical data, which is an estimate of the probability distribution of a continuous variable (a quantitative variable), which is a bar graph. To construct the histogram, the first step is to segment the range of values, i.e., divide the entire range of values into a series of intervals, and then calculate how many values are in each interval.
Image Binarization (Image Binarization) is a process of setting the gray value of a pixel point on an Image to be 0 or 255, namely, the whole Image presents an obvious black-and-white effect. In digital image processing, a binary image plays a very important role, and binarization of an image greatly reduces the amount of data in the image, thereby making it possible to highlight the contour of a target. The 256 brightness level gray scale image is selected by proper threshold value to obtain the binary image which can still reflect the whole and local features of the image. In digital image processing, the binarization of the image is beneficial to further processing of the image, so that the image is simple, the data volume is reduced, and the outline of an interested target can be highlighted. Secondly, the processing and analysis of the binary image are carried out, firstly, the gray level image is binarized to obtain a binarized image.
S202, searching a connected region in the binarized image, and solving dynamic parameters of the maximum connected region, wherein the dynamic parameters comprise the center C1, the area A1, the perimeter P1 and the number of sharp corners Sc of the maximum connected region, if the area A is less than or equal to T3, the frame binarized image meets the flame condition, and the step 3 is carried out, otherwise, the step 1 is carried out, and the step 3 is returned, wherein the T3 is a preset area threshold value.
And S203, setting the initial value of the number count of the images meeting the flame condition as 0, adding 1 to the count of the images meeting the flame condition if the binary image is the first frame of image meeting the flame condition, and recording the center C2, the area A2 and the perimeter P2 of the binary image.
And S204, if the figure count value meeting the flame condition is greater than T4, the fire condition is considered to occur, a fire alarm signal is output, otherwise, the number count value of the figures meeting the flame condition is assigned to be 0, wherein T4 is a preset threshold value.
And S3, generating a weak voltage through the infrared thermal scanning imaging detector according to the preprocessing result, and processing the weak voltage to generate an image signal.
S4, the main control board receives the image signal and generates a first control instruction according to the image signal to control the rotation of the motor so as to adjust the visible light analysis detector to position and generate positioning information; the motor comprises a horizontal adjusting motor and a vertical adjusting motor.
And S5, the main control board receives the positioning information, triggers a control signal to the horizontal adjusting motor and the vertical adjusting motor through an embedded algorithm, and is used for respectively controlling the horizontal adjusting motor to rotate horizontally and the vertical adjusting motor to rotate vertically so as to adjust the infrared thermal imaging water cannon to be stopped at an adaptive position.
Specifically, the fire point coordinates are preliminarily determined according to the image position of the center of the bottom of the flame, the acquired image information is fed back to the main control board, the motor is controlled by the main control board to horizontally and vertically adjust the jet pipe orifice to be aligned with the middle position of the highest temperature, the thermal infrared imaging water cannon covering the fire point range is started, and the jet pipe orifice of the thermal infrared imaging water cannon is adjusted to be aligned with the fire point position to start water spraying.
In S5, the embedded algorithm comprises a position type algorithm and an incremental type algorithm, and the formula of the position type algorithm is as follows:
Pout(t)＝Kp*e(t)+Ki*∑e(t)+Kd*(e(t)-e(t-1))
the formula of the incremental algorithm is:
Pdlt＝Kp*(e(t)-e(t-1))+Ki*e(t)+Kd*(e(t)-2*e(t-1)+e(t-2))。
kp is a proportional coefficient, ki is an integral coefficient, kd is a differential coefficient, and t is time.
Specifically, the parameter tuning of the PID controller is the core content of the control system design. There are many methods for setting parameters of a PID controller, and there are two broad categories in summary: one is theoretical calculation and determination. The method is mainly used for determining the parameters of the controller through theoretical calculation according to a mathematical model of a system. The calculation data obtained by this method are not necessarily directly usable, but must be adjusted and modified by engineering practice. And the second is an engineering setting method which mainly depends on engineering experience and is directly carried out in the test of the control system, and the method is simple and easy to master and is widely adopted in engineering practice. The PID controller parameter setting method mainly comprises a critical proportion method, a reaction curve method and an attenuation method. The three methods have the characteristics that the common point is that the controller parameters are adjusted according to an engineering empirical formula after passing a test. However, the controller parameters obtained by any method need to be finally adjusted and perfected in actual operation.
(1) Determining a proportionality coefficient Kp
When the proportional coefficient Kp is determined first, the integral term and the differential term of PID are removed first, so that Ti =0 and Td =0 can be set to be pure proportional adjustment. The input is set to be 60% -70% of the maximum value of the allowable output of the system, and the proportional coefficient Kp is gradually increased from 0 until the system oscillates; and vice versa, and from this time, the proportionality coefficient Kp gradually decreases until the system oscillation disappears. The proportional coefficient Kp at this time is recorded, and the proportional coefficient Kp of the PID is set to 70% to 80% of the current value.
(2) Determination of the integration time constant Ti
After the proportional coefficient Kp is determined, a larger integral time constant Ti is set, then Ti is gradually reduced until the system oscillates, and then Ti is gradually increased in reverse until the system oscillation disappears. And recording Ti at the moment, and setting the integral time constant Ti of the PID to be 150% -180% of the current value.
(3) Determining a differential time constant Td
The differential time constant Td is not generally set and may be 0, and the PID control is converted to PI control. If setting is required, 30% of the value when not oscillating is taken as in the same method of determining Kp.
The infrared thermal scanning imaging detector is controlled by the embedded algorithm to detect fire points in real time, so that the control stability is good, and the method is widely applicable.
And S6, continuously monitoring the fire point condition by the visible light analysis detector, automatically resetting if the flame is extinguished, and continuously monitoring.
Specifically, the visible light analysis detector continues to monitor the fire point condition, and if the pixels exceeding the threshold value T3 are not present in the original image data, it is determined that the flame has been extinguished, and the visible light analysis detector automatically resets and continues to monitor.
In S6, the specific steps of automatic reset include:
s601, feeding back the information about flame extinguishment to a main control board, transmitting the information to a host by the main control board, and processing the information by the host;
s602, the main control board receives closing information sent by a host;
s603, closing the infrared thermal image water cannon according to the closing information;
s604, adjusting a spray nozzle of the infrared thermographic water cannon to an original angle through a vertical adjusting motor;
and S605, horizontally rotating the infrared thermal imaging water cannon to the original position through a horizontal adjusting motor.
Therefore, the whole process is unmanned, the multipoint high-temperature area and the smog occurrence area are cooled one by one to cover, the pre-judgment angle is automatically calculated through the parabolic spray principle and the mechanical three-dimensional space value principle of the cooling fire extinguishing medium, and accurate movable type striking coverage is realized. The automatic cruise control system does not need personnel to intervene in the automatic cruise operation of equipment, does not need the field operation of personnel, makes up the hidden range that the field can not be prevented in time, and simultaneously makes up the inaccuracy, instability and danger of a human operation machine. The appearance of naked fire accidents is stopped in the true sense, and the purposes of reducing the inspection pressure of field point inspection personnel, reducing the psychological pressure of responsible personnel and ensuring that the accidents are controlled to be zero can be achieved by automatically covering and cooling. The method can be applied to the factory depots and transportation links of dangerous goods such as power plants, steel plants, chemical engineering and the like in the future.
In conclusion, through S1 to S6, the intelligent fire-fighting robot is convenient to use integrally and simple to operate, has the functions of emergency operation fire-fighting of people and early fire early warning of far infrared scanning, avoids uncontrollable fire behavior, can automatically position and emergently treat fire points, wins time for emergency rescue personnel to arrive at the scene, ensures the safety of the treating personnel, reduces the loss caused by fire, can automatically reset after the fire-fighting is finished, comprehensively realizes unmanned automatic inspection, and has practicability and wide application range.
Claims (10)
1. A positioning fire-extinguishing method of an infrared thermal imaging water cannon is characterized by being executed by the infrared thermal imaging water cannon and comprising the following steps:
s1, covering the whole detection area with the visual field range of an infrared thermal scanning imaging detector, and scanning the ultraviolet and infrared areas through the infrared thermal scanning imaging detector and forming original image data when ultraviolet rays and infrared rays exist in the detection area;
s2, preprocessing the original image data to obtain a preprocessing result;
s3, according to the preprocessing result, generating a weak voltage through the infrared thermal scanning imaging detector, and processing the weak voltage to generate an image signal;
s4, the main control board receives the image signal and generates a first control instruction according to the image signal to control the rotation of the motor so as to adjust the visible light analysis detector to position and generate positioning information; the motor comprises a horizontal adjusting motor and a vertical adjusting motor;
s5, the main control board receives the positioning information, triggers a second control instruction to the horizontal adjusting motor and the vertical adjusting motor through an embedded algorithm, and is used for respectively controlling the horizontal adjusting motor to horizontally rotate and the vertical adjusting motor to vertically rotate so as to adjust the thermal infrared imaging water cannon to be stopped at an adaptive position;
and S6, continuously monitoring the fire point condition by the visible light analysis detector, automatically resetting if the flame is extinguished, and continuously monitoring.
2. The method for locating and extinguishing a fire of an infrared thermographic water gun according to claim 1, wherein in S5, the embedded algorithm comprises a position-based algorithm and an incremental algorithm, and the formula of the position-based algorithm is as follows:
Pout(t)＝Kp*e(t)+Ki*∑e(t)+Kd*(e(t)-e(t-1))
the formula of the incremental algorithm is as follows:
Pdlt＝Kp*(e(t)-e(t-1))+Ki*e(t)+Kd*(e(t)-2*e(t-1)+e(t-2))；
kp is a proportional coefficient, ki is an integral coefficient, kd is a differential coefficient, and t is time.
3. The method for locating and extinguishing a fire of an infrared thermographic water cannon according to claim 2, wherein S2 comprises:
s201, carrying out histogram statistics on the original image data to obtain a histogram array, calculating a preset lowest thermal radiation threshold value in the histogram array to be T1, calculating an image quantization threshold value to be T2, and carrying out binarization on the original image data by using the T2 as a threshold value to obtain a binary image;
s202, searching a connected region in the binarized image, and solving dynamic parameters of the maximum connected region, wherein the dynamic parameters comprise the center C1, the area A1, the perimeter P1 and the number Sc of sharp corners of the maximum connected region, if the area A is less than or equal to T3, the frame binarized image meets the flame condition, and the step 3 is executed, otherwise, the step 1 is executed, wherein T3 is a preset area threshold value;
s203, setting the initial value of the number count of the images meeting the flame condition to be 0, adding 1 to the count of the images meeting the flame condition if the binary image is the first frame of image meeting the flame condition, and recording the center C2, the area A2 and the perimeter P2 of the binary image;
and S204, if the figure count value meeting the flame condition is greater than T4, the fire condition is considered to occur, a fire alarm signal is output, otherwise, the number count value of the figures meeting the flame condition is assigned to be 0, wherein T4 is a preset threshold value.
4. The method of claim 3, wherein in step S6, the visible light analyzer continues to monitor for a fire, and if no pixel in the raw image data exceeds a threshold T3, the flame is determined to have been extinguished, automatically reset, and continue to monitor.
5. The method for locating and extinguishing a fire of a thermographic water cannon according to claim 4, wherein in S6, the specific steps of automatically resetting include:
s601, feeding back information for extinguishing flames to the main control board, transmitting the information to a host by the main control board, and processing the information by the host;
s602, the main control board receives closing information sent by the host;
s603, closing the infrared thermal image water cannon according to the closing information;
s604, adjusting a spray pipe orifice of the thermal infrared image water cannon to an original angle through the vertical adjusting motor;
s605, horizontally rotating the infrared thermal imaging water cannon to the original position through the horizontal adjusting motor.
6. A thermographic water monitor for performing the method of locating and extinguishing a fire of the thermographic water monitor of any of claims 1 to 5, comprising: the device comprises a pipeline (1), a jet pipe orifice (2), a main control board, an infrared thermal scanning imaging detector (3), a visible light analysis detector (4), a horizontal adjusting motor (5), a vertical adjusting motor (6), a field manual control box and a host;
wherein the injection pipe orifice (2) is arranged at the tail end of the pipeline (1), and the horizontal adjusting motor (5) and the vertical adjusting motor (6) are arranged on the pipeline (1); the infrared thermal scanning imaging detector (3) and the visible light analysis detector (4) are connected with the injection pipe orifice (2); the main control board is in communication connection with the infrared thermal scanning imaging detector (3), the visible light analysis detector (4), the horizontal adjusting motor (5), the vertical adjusting motor (6) and the host; the field manual control box is in communication connection with the infrared thermal scanning imaging detector (3).
7. The infrared thermographic water cannon according to claim 6, characterized in that the horizontal adjustment motor (5) is connected to the lower end of the pipe (1), the vertical adjustment motor (6) is connected to the middle section of the pipe (1), the horizontal adjustment motor (5) is used to realize horizontal 360 ° rotation adjustment, and the vertical adjustment motor (6) is used to adjust the angle of the jet nozzle.
8. The infrared thermographic water cannon according to claim 7, characterized in that the pipe (1) is also provided with a pressure gauge for detecting the water pressure passing through the pipe.
9. An infrared thermographic water cannon according to claim 8, characterised in that the temperature range of the infrared thermal scanning imaging detector (3) is-10 ° - +300 ℃.
10. The infrared thermographic water cannon according to claim 9, wherein the host includes a user management module, a remote control module, an alarm management module, an equipment offline detection module, and a storage and query module;
the user management module is used for supporting addition of users, user password management and user permission setting;
the remote control module is used for realizing the control of remote equipment, calling far infrared, near infrared and visible image data, and remotely carrying out the fire hazard breaking and cooling treatment through the remote control fire extinguishing device;
the alarm management module is used for receiving alarm information of the main control board;
the equipment management module is used for searching, adding and deleting the temperature measurement type fire-fighting linkage fire-extinguishing cooling device;
the equipment offline detection module is used for actively sending out an equipment offline alarm when the equipment is offline;
the storage and query module is used for recording various alarm and operation information in detail, and storing and querying data.
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