WO2025161985A1 - 火灾预警方法、装置、介质以及电子设备 - Google Patents

火灾预警方法、装置、介质以及电子设备

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Publication number
WO2025161985A1
WO2025161985A1 PCT/CN2025/072842 CN2025072842W WO2025161985A1 WO 2025161985 A1 WO2025161985 A1 WO 2025161985A1 CN 2025072842 W CN2025072842 W CN 2025072842W WO 2025161985 A1 WO2025161985 A1 WO 2025161985A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
temperature
information
ignition point
determining
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
Application number
PCT/CN2025/072842
Other languages
English (en)
French (fr)
Inventor
陈康平
王旭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Youzhuju Network Technology Co Ltd
Original Assignee
Beijing Youzhuju Network Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Beijing Youzhuju Network Technology Co Ltd filed Critical Beijing Youzhuju Network Technology Co Ltd
Publication of WO2025161985A1 publication Critical patent/WO2025161985A1/zh
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B17/00—Fire alarms; Alarms responsive to explosion
    • G08B17/06—Electric actuation of the alarm, e.g. using a thermally-operated switch
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B31/00—Predictive alarm systems characterised by extrapolation or other computation using updated historic data

Definitions

  • the present disclosure relates to a fire early warning method, device, medium and electronic equipment.
  • first-robots are increasingly being used across various industries.
  • first-robots are increasingly being used to respond to emergencies in their working environments, for example, using them for fire warnings.
  • first-robots are generally only able to provide warnings after a fire has occurred, not before it has formed.
  • the present disclosure provides a fire early warning method, the method comprising:
  • Determining type information of an object within a visual range of the first robot and a current temperature of the object Determining type information of an object within a visual range of the first robot and a current temperature of the object
  • Whether to output fire warning information is determined according to the ignition point temperature and the current temperature.
  • a fire warning device comprising:
  • a first determining module configured to determine type information of an object within a visual range of the first robot and a current temperature of the object
  • a second determining module configured to determine an ignition point temperature corresponding to the object according to the type information of the object
  • the third determination module is configured to determine whether to output fire warning information according to the ignition point temperature and the current temperature.
  • the present disclosure provides a computer-readable medium having a computer program stored thereon, which implements the steps of the method described in the first aspect when executed by a processing device.
  • the present disclosure provides an electronic device, comprising:
  • a processing device is used to execute the computer program in the storage device to implement the steps of the method described in the first aspect.
  • FIG1 is a flowchart illustrating a fire early warning method according to some embodiments.
  • FIG2 is a flow chart showing a fire early warning method according to yet other embodiments.
  • FIG3 is a flow chart showing a fire early warning method according to some other embodiments.
  • FIG4 is a schematic diagram showing module connections of a fire warning device according to some embodiments.
  • FIG5 is a schematic structural diagram of an electronic device according to some embodiments.
  • the term “including” and its variations are open-ended, i.e., “including but not limited to.”
  • the term “based on” means “based, at least in part, on.”
  • the term “one embodiment” means “at least one embodiment,” the term “another embodiment” means “at least one additional embodiment,” and the term “some embodiments” means “at least some embodiments.” Definitions of other terms are provided in the following description.
  • FIG. 1 is a flowchart illustrating a fire early warning method according to some embodiments.
  • embodiments of the present disclosure provide a fire early warning method that can be performed by an electronic device, specifically a fire early warning device.
  • This device can be implemented using software and/or hardware and configured within the electronic device.
  • the electronic device can be a server or a first robot.
  • the method may include the following steps.
  • step 110 type information of an object within a visual range of the first robot and a current temperature of the object are determined.
  • the visual range of the first robot may refer to the shooting range of the camera installed on the first robot.
  • the visual range of the first robot refers to the range of the captured images captured by the camera of the first robot.
  • the objects within the visual range of the first robot may refer to items within the visual range of the first robot.
  • the type information of the object refers to the type information of the item.
  • types such as clothing, fruit, etc.
  • further subdivision can also be performed based on material composition.
  • clothing can be divided into polyester fiber type clothing, pure cotton type clothing, and wool type clothing.
  • the type information of the object within the visual range of the first robot can be acquired by the first robot.
  • the first robot can capture corresponding images and then upload the images to a server, which then determines the type information of the object within the visual range of the first robot.
  • the current temperature of the object may refer to the real-time temperature of the object within the visual range of the first robot.
  • the current temperature of the object may be acquired by the first robot.
  • the first robot referred to in the embodiment of the present disclosure may be a storage robot, a sweeping robot, a service robot, and the like.
  • step 120 the ignition point temperature corresponding to the object is determined according to the type information of the object.
  • the ignition point temperature refers to the ignition temperature of an object, which is the minimum temperature required for the surface of an object to ignite and continue burning for a certain period of time.
  • the corresponding ignition point temperature can vary for different types of objects.
  • the ignition point temperature of charcoal is 320-400°C
  • the ignition point temperature of wood is 400-470°C
  • the ignition point temperature of nylon is 500°C
  • the ignition point temperature of anthracite is 440-500°C.
  • step 130 it is determined whether to output fire warning information based on the ignition point temperature and the current temperature.
  • the current temperature of the object may be compared with the ignition point temperature corresponding to the object, and then whether to output fire warning information may be determined based on the comparison result.
  • fire warning information is output when the current temperature is about to reach the ignition point temperature.
  • the current temperature being close to the ignition point temperature may be determined in response to the absolute value of the difference between the current temperature and the ignition point temperature being less than a preset threshold. For example, if the ignition point temperature of the item is 240°C and the current temperature of the item is 220°C, then the current temperature is determined to be close to the ignition point temperature. It should be understood that the preset threshold can be set based on actual circumstances.
  • the current temperature is greater than the ignition point temperature, indicating that the object has been burned. At this time, it is necessary to output fire warning information.
  • the current temperature is much lower than the ignition point temperature, it may be determined not to output the fire warning information. For example, if the ignition point temperature of the object is 240°C and the current temperature of the object is 20°C, it may be determined not to output the fire warning information.
  • fire warning information can include location information, image information, and other content, enabling users to take timely action based on the fire warning information.
  • Fire warning information can be output via text message or phone call. This can include sending a text message or making a phone call to a specific contact. Alternatively, fire warning information can be output via an audible or visual alarm device.
  • fire warning information can be output when the current temperature and ignition point temperature of the object meet the above conditions.
  • a warning can be issued in advance of a fire, thereby preventing loss of life and property.
  • the robot detects a rise in the temperature of an object in its working environment, it can issue a warning to the user before a fire occurs, thus nipping the fire hazard in the bud.
  • a corresponding fire warning message can be output, prompting the user to take timely action before the goods spontaneously combust.
  • Fig. 2 is a flow chart of a fire early warning method according to some further embodiments. As shown in Fig. 2 , in some possible implementations, the fire early warning method includes the following steps.
  • step 201 when the current temperature of the object is lower than the ignition point temperature, if the current temperature is higher than a preset temperature threshold, the object is marked to obtain a marked object.
  • the preset temperature threshold may be a storage temperature corresponding to the object.
  • the corresponding preset temperature thresholds may be different.
  • the current temperature of the object is lower than the ignition point temperature and higher than the preset temperature threshold, indicating that there are objects with abnormal temperatures in the working environment of the first robot, that is, there are objects with abnormally high temperatures in the working environment.
  • the first robot finds that there is an object in the working environment whose temperature is lower than the ignition point temperature, but has not reached the level requiring an early warning, it further determines whether the temperature of the object is higher than the preset temperature threshold. If it is higher than the preset temperature threshold, the object with abnormal temperature is marked to obtain a marked object.
  • the marked objects are items with fire hazards that require special attention in the working environment.
  • a target robot is determined based on the first position of the marked object and the second position of the second robot, wherein the target robot is the second robot that can reach the first position before the target time is reached, and the target time is the time required for the marked object to rise from the current temperature to the ignition point temperature.
  • the second robot may be a robot in the working environment, which may be the first robot or another robot other than the first robot.
  • the first position of the marked object may refer to the real-time position of the marked object. If the marked object is a fixedly stored item, the first position may be the position of the marked object when the first robot performs temperature detection on the marked object. If the marked object is a moving object, the real-time position of the marked object can be obtained through the Internet of Things to determine the first position of the marked object.
  • the second position of the second robot may refer to the real-time position of the second robot in the working environment.
  • the target robot is a robot used to re-test the temperature of the marked object.
  • the target robot is a second robot that can reach the first position of the marked object before the target duration is reached.
  • the target duration is the time required for the marked object to rise from its current temperature to the ignition point temperature. For example, assuming that the ignition point temperature of object A is 100°C, and it takes 10 minutes for object A to rise from 20°C to 100°C, then 10 minutes is the target duration. It should be noted that for different types of objects with different current temperatures, the corresponding target durations are also different.
  • the second robot that can reach the first position the fastest can be determined as the target robot, or the second robot closest to the first position can be determined as the target robot.
  • candidate robots can be identified based on the preconfigured work paths of the second robots. Then, from among the candidate robots, a second robot that can reach the first location of the marked object before the target duration is reached can be selected.
  • the candidate robot can be a second robot whose vertical distance from the work path to the first location is less than a preset distance threshold. Based on this, a second robot near the first location can be deployed to the first location to avoid disrupting the second robot's normal work plan.
  • the target robot can be determined based on the first position of the marked object and the second position of the second robot after a preset time interval, wherein the preset time interval is shorter than the target time interval.
  • determining the target robot based on the first position and the second position can be performed by determining the distance corresponding to the movement of each second robot to the first position based on the first position and the second position, and then determining the movement time required for the second robot to move to the first position based on the distance and the movement speed of the second robot, and then determining the target robot based on the movement time and the target time.
  • step 203 the target robot is controlled to move to a first position, and the temperature of the marked object is detected to obtain first temperature change information of the marked object.
  • the target robot may be controlled to move to the first position, and the temperature of the marked object may be detected again to obtain the real-time temperature of the marked object.
  • the first temperature change information refers to the degree of change between the current temperature obtained when the first robot first detects the temperature of the marked object and the real-time temperature obtained when the target robot detects the temperature of the marked object again.
  • This first temperature change information indicates whether the marked object's temperature has changed. This change can include maintaining the same temperature, increasing the temperature, or decreasing the temperature.
  • step 204 an action corresponding to the first temperature change information is executed according to the first temperature change information.
  • different actions can be matched to different first temperature change information. For example, if the first temperature change information indicates a temperature increase, an action of outputting a fire warning message can be executed. If the first temperature change information indicates a temperature decrease, an action of unmarking the marked object can be executed. If the first temperature change information indicates a temperature change, an action of retesting the marked object after a certain period of time can be executed.
  • the first temperature change information represents a temperature increase, indicating that the temperature of the marked object has increased abnormally and there is a fire hazard.
  • a fire warning message can be output to enable staff to discover the fire hazard in advance before the fire occurs.
  • the first robot detects an object B in its working environment, whose current temperature is below the ignition point but above a preset temperature threshold, it marks the object, indicating a possible temperature anomaly.
  • the first robot then continues its pre-configured task and, after a preset interval, determines a target robot based on the marked object's first position and the second position of the second robot.
  • the target robot is then instructed to move to the first position of object B and perform a temperature measurement on the marked object, obtaining first temperature change information.
  • the first robot then performs an action based on this first temperature change information.
  • the above example is only for the first robot. This does not mean that the fire warning method of the present embodiment can only be executed by the first robot. It can also be executed by a server. In other words, the server communicates with the first robot and the second robot to manage the first robot and the second robot.
  • the second robot in the working environment can perform a secondary temperature check on the marked object, thereby detecting fire hazards in advance. Furthermore, this does not affect the operating logic of the first robot itself. In other words, if the first robot detects an abnormal temperature of an object but does not reach an alarm level, the first robot can continue its original work schedule while the second robot rechecks the abnormal temperature object.
  • FIG 3 is a flow chart of a fire early warning method according to some other embodiments. As shown in Figure 3, in some possible implementations, the fire early warning method includes the following steps.
  • a patrol path corresponding to the first robot is determined according to the target duration, wherein the patrol path is a path that the first robot can take from the end point corresponding to the patrol path back to the first position before the target duration arrives.
  • the inspection path corresponding to the first robot is determined according to the target duration.
  • the inspection path corresponding to the first robot refers to the future movement path of the first robot, which is a path that the first robot can take from the end point corresponding to the inspection path back to the first position before the target duration is reached.
  • the inspection path may be a section of the path intercepted from the pre-configured working path of the first robot.
  • step 302 the first robot is controlled to run along the inspection path, and when the first robot reaches the end point corresponding to the inspection path, the first robot is controlled to return to the first position, and the temperature of the marked object is detected to obtain second temperature change information of the marked object.
  • the first robot After determining the inspection path, the first robot operates according to the inspection path. After the first robot reaches the end point of the inspection path, the first robot is controlled to return to the first position. The first robot is also controlled to detect the temperature of the marked object again to obtain second temperature change information of the marked object.
  • step 303 an action corresponding to the second temperature change information is executed according to the second temperature change information.
  • different actions can be matched to different second temperature change information. For example, if the second temperature change information indicates a temperature increase, an action of outputting a fire warning message can be executed. If the second temperature change information indicates a temperature decrease, an action of unmarking the marked object can be executed. If the second temperature change information indicates a temperature change, an action of retesting the marked object after a certain period of time can be executed.
  • the second temperature change information represents a temperature increase, indicating that the temperature of the marked object has increased abnormally and there is a fire hazard.
  • a fire warning message can be output to enable staff to discover the fire hazard in advance before the fire occurs.
  • the first robot a patrol robot specifically designed for fire inspections
  • the first robot may be used as the execution subject.
  • the first robot Upon discovering an object C in its working environment whose current temperature is below the ignition point but above a preset temperature threshold, the first robot marks the object C, indicating a possible temperature anomaly.
  • the first robot then patrols along the determined patrol route. After completing the patrol route, the robot returns to the first location corresponding to object C, performs a temperature measurement on the object, and obtains second temperature change information.
  • the first robot then performs an action based on this second temperature change information.
  • the first robot when the first robot finds an object with abnormal temperature, the first robot can continue to work or re-inspect the object with abnormal temperature to discover fire hazards in advance.
  • the target duration may be determined based on a temperature rise curve corresponding to the marked object at the current ambient temperature.
  • the temperature rise curve refers to the relationship between the temperature change of the marked object under the current ambient temperature and time.
  • the temperature rise curve may be different for different ambient temperatures.
  • temperature rise curve may be learned through sample data of temperature changes over time for different types of objects at different ambient temperatures.
  • the target time required for the marked object to rise from the current temperature to the ignition point temperature can be calculated based on the current temperature of the marked object in combination with the corresponding temperature rise curve.
  • the target duration corresponding to the marked object can be accurately determined through the temperature rise curve.
  • the location information of the object is determined according to the walking map of the first robot, the fire warning information is generated according to the location information, and then the fire warning information is output.
  • the position information of the object is determined based on the walking map of the first robot.
  • the location of the first robot may be determined based on a walking map of the first robot, and then the location information of the object may be determined based on the location of the first robot.
  • the first robot's walking map may refer to an incremental map constructed based on the first robot's self-positioning during movement, using position estimation and a map.
  • the walking map enables the first robot to determine its real-time position within the working environment.
  • the first robot can then measure the distance to objects within its visual range, obtaining the relative direction and distance between the first robot's real-time position and the object.
  • the first robot can determine the object's position within the environment.
  • a fire warning message is generated based on the object's location information.
  • the fire warning message may include the object's location information.
  • the fire warning message may also include a captured image of the object, text information for providing a fire warning, and so on.
  • the location information of the object that needs to be warned can be accurately determined, so that the user can accurately locate the position of the object with fire hazards based on the location information, thereby quickly and promptly eliminating the fire hazard.
  • a shooting device provided on the first robot may be used to obtain a captured image, and type information of the object within the visual range of the first robot may be determined based on the captured image.
  • the photographing device may refer to a camera, laser radar, or other device installed on the first robot. While the first robot is operating, the photographing device may capture images of its working environment. The content of the captured images is within the visual range of the first robot.
  • the execution entity is a first robot.
  • the first robot can determine the type of objects within its visual range by capturing an image. For example, if the execution entity is a server, after acquiring the captured image, the first robot uploads the captured image to the server. The server then determines the type of objects within the first robot's visual range based on the captured image.
  • the captured images can be input into an image recognition model to obtain type information of objects within the visual range of the first robot.
  • the image recognition model can be obtained by performing machine learning on a machine learning model using historical captured images labeled with type information.
  • the machine learning model can be a neural network model.
  • the first robot can be controlled to detect the working environment of the first robot during its operation, so as to timely discover fire hazards in the working environment.
  • the current temperature of the object may be determined by a temperature detection device provided on the first robot.
  • the temperature detection device can be a camera for temperature detection, for example, the camera can be an infrared temperature measurement camera.
  • the temperature detection device can also be other devices that can be used for temperature detection, such as a temperature detector.
  • the first robot may detect the temperature of objects in the working environment through the temperature detection device to obtain the current temperature of the objects within the visual range of the first robot.
  • the current temperature of the object within the visual range of the first robot can be quickly acquired through the temperature detection device.
  • the ignition point temperature corresponding to the object may be determined based on the type information of the object and a mapping relationship between different types of objects and the ignition point temperature of the object.
  • the electronic device can search the mapping relationship based on the determined type information to obtain the ignition point temperature corresponding to the type information.
  • the mapping relationship may be: charcoal - 320-400°C, wood - 400-470°C, nylon - 500°C, anthracite - 440-500°C, and so on. Assuming that the objects within the visual range of the first robot are charcoal and anthracite, the mapping relationship can determine that the ignition point temperature corresponding to charcoal is 320-400°C, and the ignition point temperature corresponding to anthracite is 440-500°C.
  • mapping relationship between different types of objects and the ignition point temperatures of the objects may be pre-established and stored in a database of the electronic device.
  • mapping relationship between different types of objects and their ignition point temperatures can be the mapping relationship between different types of objects and their ignition point temperatures in the environment where the first robot is located.
  • different environments have different humidity, temperature, pressure, etc., and accordingly, the corresponding ignition point temperatures of different types of objects may also be different.
  • the ignition point temperature corresponding to the object included in the visual range of the first robot can be quickly determined.
  • FIG4 is a schematic diagram showing module connections of a fire warning device according to some embodiments.
  • a fire warning device 400 is provided, the fire warning device 400 comprising:
  • a first determining module 401 is configured to determine type information of an object within a visual range of the first robot and a current temperature of the object;
  • the second determining module 402 is configured to determine the ignition point temperature corresponding to the object according to the type information of the object;
  • the third determination module 403 is configured to determine whether to output fire warning information according to the ignition point temperature and the current temperature.
  • the fire warning device 400 further includes:
  • a marking module configured to mark the object to obtain a marked object if the current temperature of the object is lower than the ignition point temperature and the current temperature is higher than a preset temperature threshold
  • a fourth determining module configured to determine a target robot based on the first position of the marked object and the second position of the second robot, wherein the target robot is the second robot that can reach the first position before a target time elapses, and the target time elapses, wherein the target time elapses when the marked object is heated from the current temperature to the ignition point temperature;
  • a first control module configured to control the target robot to move to the first position, perform temperature detection on the marked object, and obtain first temperature change information of the marked object
  • the first execution module is configured to execute an action corresponding to the first temperature change information according to the first temperature change information.
  • the fire warning device 400 further includes:
  • a fifth determining module configured to determine, based on the target duration, a patrol path corresponding to the first robot, wherein the patrol path is a path that the first robot can take from an end point corresponding to the patrol path back to the first position before the target duration expires;
  • a second control module configured to control the first robot to run along the inspection path, and when the first robot reaches an end point corresponding to the inspection path, control the first robot to return to the first position, detect the temperature of the marked object, and obtain second temperature change information of the marked object;
  • the second execution module is configured to execute an action corresponding to the second temperature change information according to the second temperature change information.
  • the fire warning device 400 further includes:
  • the duration determination module is configured to determine the target duration according to a temperature rise curve corresponding to the marked object under the current ambient temperature.
  • the fire warning device 400 further includes:
  • a position determination module configured to determine the position information of the object according to the walking map of the first robot when determining to output the fire warning information
  • a generating module configured to generate fire warning information according to the location information
  • the output module is configured to output the fire warning information.
  • the first determining module 401 is specifically configured to:
  • the current temperature of the object is determined by a temperature detection device provided on the first robot.
  • the second determining module 402 is specifically configured to:
  • the ignition point temperature corresponding to the object is determined according to the type information of the object and in combination with a mapping relationship between different types of objects and the ignition point temperature of the object.
  • FIG5 shows a schematic diagram of an electronic device (e.g., a robot or server) 500 suitable for implementing the embodiments of the present disclosure.
  • the electronic device shown in FIG5 is merely an example and should not limit the functionality and scope of use of the embodiments of the present disclosure.
  • the electronic device 500 may include a processing device (such as a central processing unit, a graphics processing unit, etc.) 501, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 502 or the program loaded from the storage device 508 to the random access memory (RAM) 503.
  • Various programs and data required for the operation of the electronic device 500 are also stored in the RAM 503.
  • the processing device 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504.
  • the input/output (I/O) interface 505 is also connected to the bus 504.
  • the electronic device 500 is a robot, the electronic device 500 may also include other structures, such as a motion mechanism, a shooting device, a temperature detection device, and the like.
  • the following devices may be connected to the I/O interface 505: an input device 506 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 507 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 508 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 509.
  • the communication device 509 may allow the electronic device 500 to communicate with other devices wirelessly or by wire to exchange data.
  • FIG5 shows the electronic device 500 with various devices, it should be understood that not all of the devices shown are required to be implemented or present. More or fewer devices may alternatively be implemented or present.
  • an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program includes program code for executing the method shown in the flowchart.
  • the computer program can be downloaded and installed from the network through the communication device 509, or installed from the storage device 508, or installed from the ROM 502.
  • the processing device 501 When the computer program is executed by the processing device 501, the above-mentioned functions defined in the method of the embodiment of the present disclosure are performed.
  • the computer-readable medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two.
  • a computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination of the above.
  • Computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or component.
  • a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above.
  • a computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.
  • the program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof.
  • the robot and the server can communicate using any currently known or later developed network protocol, such as HTTP (HyperText Transfer Protocol), and can be interconnected with any form or medium of digital data communication (e.g., a communication network).
  • HTTP HyperText Transfer Protocol
  • Examples of communication networks include a local area network ("LAN”), a wide area network ("WAN”), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or later developed network.
  • the computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.
  • the computer-readable medium carries one or more programs.
  • the electronic device determines the type information of the object within the visual range of the first robot and the current temperature of the object; determines the ignition point temperature corresponding to the object based on the type information of the object; and determines whether to output fire warning information based on the ignition point temperature and the current temperature.
  • Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including, but not limited to, object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages.
  • the program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server.
  • the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).
  • LAN local area network
  • WAN wide area network
  • Internet service provider e.g., AT&T, MCI, Sprint, EarthLink, MSN, GTE, etc.
  • each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function.
  • the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved.
  • each box in the block diagram and/or flowchart, and the combination of the boxes in the block diagram and/or flowchart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.
  • modules described in the embodiments of the present disclosure may be implemented in software or hardware, wherein the name of a module does not necessarily limit the module itself.
  • exemplary types of hardware logic components include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.
  • FPGAs field programmable gate arrays
  • ASICs application specific integrated circuits
  • ASSPs application specific standard products
  • SOCs systems on chips
  • CPLDs complex programmable logic devices
  • a machine-readable medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment.
  • a machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium.
  • a machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or equipment, or any suitable combination of the foregoing.
  • a more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
  • RAM random access memory
  • ROM read-only memory
  • EPROM or flash memory erasable programmable read-only memory
  • CD-ROM portable compact disk read-only memory
  • CD-ROM compact disk read-only memory
  • magnetic storage device or any suitable combination of the foregoing.

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Abstract

一种火灾预警方法、装置、介质以及电子设备。该方法通过确定第一机器人的视觉范围内的对象的种类信息以及对象的当前温度，根据对象的种类信息，确定对象对应的着火点温度，并根据着火点温度以及当前温度，确定是否输出火灾预警信息。机器人在工作环境发现存在物品的温度上升的情况下，在引发火灾之前，提前向用户发起预警，将火灾隐患扼杀在萌芽阶段，从而避免人员、财产出现损失。

Description

火灾预警方法、装置、介质以及电子设备
本申请要求于2024年2月4日递交的中国专利申请第202410160681.1号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。
技术领域
本公开涉及一种火灾预警方法、装置、介质以及电子设备。
背景技术
随着第一机器人技术的发展，第一机器人被越来越广泛地用于各行各业中。特别是第一机器人也逐渐能够用于对第一机器人工作环境的突发情况的应对处理，例如，将第一机器人用于火灾预警。但是，在相关技术中，第一机器人一般只能用于在火灾发生之后进行预警，而无法在火灾形成之前进行预警。
发明内容
提供该发明内容部分以便以简要的形式介绍构思，这些构思将在后面的具体实施方式部分被详细描述。该发明内容部分并不旨在标识要求保护的技术方案的关键特征或必要特征，也不旨在用于限制所要求的保护的技术方案的范围。
第一方面，本公开提供一种火灾预警方法，所述方法包括：
确定第一机器人的视觉范围内的对象的种类信息以及所述对象的当前温度；
根据所述对象的种类信息，确定所述对象对应的着火点温度；
根据所述着火点温度以及所述当前温度，确定是否输出火灾预警信息。
第二方面，本公开提供一种火灾预警装置，所述装置包括：
第一确定模块，被配置为确定第一机器人的视觉范围内的对象的种类信息以及所述对象的当前温度；
第二确定模块，被配置为根据所述对象的种类信息，确定所述对象对应的着火点温度；
第三确定模块，被配置为根据所述着火点温度以及所述当前温度，确定是否输出火灾预警信息。
第三方面，本公开提供一种计算机可读介质，其上存储有计算机程序，该程序被处理装置执行时实现第一方面所述方法的步骤。
第四方面，本公开提供一种电子设备，包括：
存储装置，其上存储有计算机程序；
处理装置，用于执行所述存储装置中的所述计算机程序，以实现第一方面所述方法的步骤。
附图说明
结合附图并参考以下具体实施方式，本公开各实施例的上述和其他特征、优点及方面将变得更加明显。贯穿附图中，相同或相似的附图标记表示相同或相似的元素。应当理解附图是示意性的，原件和元素不一定按照比例绘制。在附图中：
图1是根据一些实施例示出的一种火灾预警方法的流程图。
图2是根据又一些实施例示出的一种火灾预警方法的流程图。
图3是根据另一些实施例示出的一种火灾预警方法的流程图。
图4是根据一些实施例示出的一种火灾预警装置的模块连接示意图。
图5是根据一些实施例示出的一种电子设备的结构示意图。
具体实施方式
下面将参照附图更详细地描述本公开的实施例。虽然附图中显示了本公开的某些实施例，然而应当理解的是，本公开可以通过各种形式来实现，而且不应该被解释为限于这里阐述的实施例，相反提供这些实施例是为了更加透彻和完整地理解本公开。应当理解的是，本公开的附图及实施例仅用于示例性作用，并非用于限制本公开的保护范围。
应当理解，本公开的方法实施方式中记载的各个步骤可以按照不同的顺序执行，和/或并行执行。此外，方法实施方式可以包括附加的步骤和/或省略执行示出的步骤。本公开的范围在此方面不受限制。
本公开使用的术语“包括”及其变形是开放性包括，即“包括但不限于”。术语“基于”是“至少部分地基于”。术语“一个实施例”表示“至少一个实施例”；术语“另一实施例”表示“至少一个另外的实施例”；术语“一些实施例”表示“至少一些实施例”。其他术语的相关定义将在下文描述中给出。
需要注意，本公开中提及的“第一”、“第二”等概念仅用于对不同的装置、模块或单元进行区分，并非用于限定这些装置、模块或单元所执行的功能的顺序或者相互依存关系。
需要注意，本公开中提及的“一个”、“多个”的修饰是示意性而非限制性的，本领域技术人员应当理解，除非在上下文另有明确指出，否则应该理解为“一个或多个”。
本公开实施方式中的多个装置之间所交互的消息或者信息的名称仅用于说明性的目的，而并不是用于对这些消息或信息的范围进行限制。
图1是根据一些实施例示出的一种火灾预警方法的流程图。如图1所示，本公开实施例提供一种火灾预警方法，该方法可以通过电子设备执行，具体可以是通过一种火灾预警装置来执行，该装置可以由软件和/或硬件的方式实现，配置于电子设备中。应当理解的是，电子设备可以是服务器或者第一机器人。如图1所示，该方法可以包括以下步骤。
在步骤110中，确定第一机器人的视觉范围内的对象的种类信息以及对象的当前温度。
这里，第一机器人的视觉范围可以是指设置在第一机器人上的拍摄装置的拍摄范围，也就是说，第一机器人的视觉范围是指第一机器人的拍摄装置获取到的拍摄图像的范围。第一机器人的视觉范围内的对象可以是指第一机器人的视觉范围内的物品。相应地，对象的种类信息为物品的种类信息。例如，衣服、水果等等种类。当然，进一步细分也可以按照材质组成进行细分。例如，衣服可以分为聚酯纤维类型的衣服、纯棉类型的衣服、羊毛类型的衣服。
应当理解的是，第一机器人的视觉范围内的对象的种类信息可以是由第一机器人获取到的。当然，也可以是由第一机器人采集对应的拍摄图像，然后将拍摄图像上传至服务器，由服务器确定第一机器人的视觉范围内的对象的种类信息。
对象的当前温度可以是指第一机器人的视觉范围内包含的物品对应的实时温度。示例性地，对象的当前温度可以由第一机器人获取。
值得说明的是，本公开实施例所指的第一机器人可以是仓储机器人、扫地机器人、服务机器人等等。
在步骤120中，根据对象的种类信息，确定对象对应的着火点温度。
这里，着火点温度是指对象的燃点温度，其是指物品的表面起火并持续燃烧一定时间所需的最低温度。针对不同种类的对象，其对应的着火点温度可以具有区别。例如，木炭的着火点温度为320-400℃、木材的着火点温度为400-470℃、尼龙的着火点温度为500℃、无烟煤的着火点温度为440-500℃。
在步骤130中，根据着火点温度以及当前温度，确定是否输出火灾预警信息。
这里，可以将对象的当前温度与该对象对应的着火点温度进行对比，然后根据对比结果来确定是否输出火灾预警信息。
作为一些示例，可以在当前温度即将达到着火点温度的情况下，确定输出火灾预警信息。
其中，当前温度即将达到着火点温度可以是响应于当前温度与着火点温度之间的差值的绝对值小于预设阈值。例如，假设物品的着火点温度为240℃，物品的当前温度为220℃，则确定当前温度即将达到着火点温度。应当理解的是，预设阈值可以根据实际情况进行设置。
作为又一些示例，可以在当前温度大于着火点温度的情况下，确定输出火灾预警信息。
其中，当前温度大于着火点温度，表征物品已经发生燃烧，此时，需要输出火灾预警信息。
作为另一些示例，可以在当前温度远低于着火点温度的情况下，确定不输出火灾预警信息。例如，假设物品的着火点温度为240℃，物品的当前温度为20℃，则确定不输出火灾预警信息。
值得说明的是，火灾预警信息可以包括对象的位置信息、图像信息等等内容，以使用户能够根据火灾预警信息及时做出相应的动作。输出火灾预警信息可以是通过短信或者电话的形式输出。其中，通过短信或者电话的形式输出火灾预警信息，可以是向特定的联系人发送短信或者打电话。当然，也可以是通过声光报警装置来输出或者火灾预警信息。
应当理解的是，在第一机器人的视觉范围内的对象的数量可以包括多个，在本公开实施例中，在发现存在对象的当前温度以及着火点温度满足上述条件的情况下，均可以输出火灾预警信息。
由此，通过确定第一机器人的视觉范围内的对象的种类信息以及对象的当前温度，根据对象的种类信息，确定对象对应的着火点温度，并根据着火点温度以及当前温度，确定是否输出火灾预警信息，可以在火灾发生之前，提前发出预警，从而避免人员、财产出现损失。也就是说，机器人在工作环境发现存在物品的温度上升的情况下，能够引发火灾形成之前，提前向用户发起预警，将火灾隐患扼杀在萌芽阶段。例如，在货物的搬运过程中，若因为摩擦导致货物的温度上升，并临近该货物的着火点温度，则可以输出对应的火灾预警信息，以在货物发生自燃之前就提醒用户及时采取措施。
图2是根据又一些实施例示出的一种火灾预警方法的流程图。如图2所示，在一些可以实现的实施方式中，火灾预警方法包括以下步骤。
在步骤201中，在对象的当前温度小于着火点温度的情况下，若当前温度大于预设温度阈值，对对象进行标记，获得标记对象。
这里，预设温度阈值可以是在对象对应的存储温度。对于不同种类的对象，其对应的预设温度阈值可以不同。
需要注意的是，对象的当前温度小于着火点温度且当前温度大于预设温度阈值，表征第一机器人的工作环境中存在温度异常的物品，即工作环境中存在温度异常上升的物品。
也就是说，当第一机器人发现工作环境中存在温度小于着火点温度的物品，但是又未达到需要进行预警的程度时，进一步判断该物品的温度是否大于预设温度阈值，若大于预设温度阈值，则标记温度异常的对象，获得标记对象。
应当理解的是，标记对象就是在工作环境中需要重点关注的具有火灾隐患的物品。
在步骤202中，根据标记对象的第一位置以及第二机器人的第二位置，确定目标机器人，其中目标机器人为能够在目标时长到达前抵达第一位置的第二机器人，目标时长为标记对象从当前温度升高至着火点温度所需的时长。
这里，第二机器人可以是在工作环境中的机器人，其可以是第一机器人，也可以是除第一机器人外的其他机器人。标记对象的第一位置可以是指标记对象的实时位置。若标记对象为固定存储的物品，则第一位置可以是第一机器人在对标记对象进行温度检测时，标记对象的位置。若标记对象为运动的对象，则可以通过物联网获取标记对象的实时位置，从而确定标记对象的第一位置。第二机器人的第二位置可以是指第二机器人在工作环境中的实时位置。
目标机器人为用于对标记对象进行再次温度检测的机器人。目标机器人为能够在目标时长到达前抵达标记对象的第一位置的第二机器人。其中，目标时长为标记对象从当前温度升高至着火点温度所需的时长。例如，假设物品A的着火点温度为100℃，物品A从20℃升高至100℃需要10分钟，则10分钟为目标时长。需要注意的是，针对不同种类的、当前温度不同的对象，且对应的目标时长也有所不同。
应当理解的是，若根据第一位置以及第二位置，确定到多个能够在目标时长到达前抵达标记对象的第一位置的第二机器人，则可以从多个该第二机器人中确定一个第二机器人作为目标机器人。例如，可以将能够最快抵达第一位置的第二机器人确定为目标机器人，或者将距离第一位置最近的第二机器人确定为目标机器人。
当然，在筛选目标机器人时，可以根据第二机器人预先配置的工作路径，确定候选机器人，然后从候选机器人中确定能够在目标时长到达前抵达标记对象的第一位置的第二机器人。其中，候选机器人可以为第一位置与工作路径的垂直距离小于预设距离阈值的第二机器人。基于此，可以第一位置附近的第二机器人调配至第一位置，从而避免扰乱第二机器人的正常工作规划。
值得说明的是，可以在间隔预设时长之后，根据标记对象的第一位置以及第二机器人的第二位置，确定目标机器人。其中，预设时长小于目标时长。
示例性地，根据第一位置以及第二位置确定目标机器人，可以是根据第一位置以及第二位置，确定每一第二机器人运动至第一位置对应的距离，然后根据该距离以及第二机器人的移动速度，确定第二机器人移动至第一位置所需的运动时长，然后根据运动时长以及目标时长，确定目标机器人。
在步骤203中，控制目标机器人运动至第一位置，对标记对象进行温度检测，获得标记对象的第一温度变化信息。
这里，在确定目标机器人之后，可以控制目标机器人运动至第一位置，并再次对标记对象进行温度检测，获得标记对象的实时温度。
第一温度变化信息是指第一机器人第一次对标记对象进行温度检测时获得的当前温度与目标机器人再次对标记对象进行温度检测获得的实时温度之间的变化程度。该第一温度变化信息，用于表示标记对象的温度是否发生变化，这种变化可以是温度维持不变、温度升高或者温度降低。
在步骤204中，根据第一温度变化信息，执行与第一温度变化信息对应的动作。
这里，针对不同的第一温度变化信息，可以匹配不同的动作。例如，在第一温度变化信息表征温度升高时，可以执行输出火灾预警信息的动作。在第一温度变化信息表征温度降低时，可以执行取消标记对象的标记的动作。在第一温度变化信息表征温度不变时，可以执行间隔一定时长后再次对标记对象进行温度检测的动作。
应当理解的是，第一温度变化信息表征温度升高，说明标记对象的温度异常升高，存在火灾隐患，此时可以输出火灾预警信息，以使工作人员能够在火灾形成之前，提前发现火灾隐患。
以执行主体为第一机器人为例，在第一机器人发现工作环境中存在当前温度小于着火点温度，但当前温度大于预设温度阈值的物品B时，第一机器人对该物品B进行标记，表示物品B可能存在温度异常。然后，第一机器人继续执行其预先配置的工作，并在间隔预设时长之后，根据标记对象的第一位置以及第二机器人的第二位置确定目标机器人。然后，通知目标机器人运动至物品B的第一位置对标记对象进行温度检测，获得标记对象的第一温度变化信息，然后第一机器人根据第一温度变化信息执行对应的动作。
当然，上述示例仅仅是以第一机器人为例进行说明，并不是说本公开实施例的火灾预警方法仅能够由第一机器人执行，也可以有服务器执行。也就是说，服务器与第一机器人、第二机器人进行通信，对第一机器人、第二机器人进行管理。
由此，通过上述步骤201至步骤204，可以使得工作环境中的第二机器人对标记对象进行二次温度检测，从而提前发现火灾隐患。而且，也不会影响第一机器人本身的工作逻辑。也就是说，第一机器人在发现存在物品的温度异常但未达到报警的情况下，第一机器人可以继续执行其原有的工作安排，由第二机器人去对温度异常的物品进行再次检测。
图3是根据另一些实施例示出的一种火灾预警方法的流程图。如图3所示，在一些可以实现的实施方式中，火灾预警方法包括以下步骤。
在步骤301中，根据目标时长，确定第一机器人对应的巡检路径，其中巡检路径为第一机器人能够在目标时长到达前，从巡检路径对应的终点返回第一位置的路径。
这里，在对象的当前温度小于着火点温度的情况下，若当前温度大于预设温度阈值，对对象进行标记，获得标记对象。然后，根据目标时长，确定第一机器人对应的巡检路径。
应当理解的是，第一机器人对应的巡检路径是指第一机器人未来的运动路径。该巡检路径为第一机器人能够在目标时长到达前，从巡检路径对应的终点返回至第一位置的路径。
值得说明的是，巡检路径可以是从第一机器人预先配置的工作路径中截取的一段路径。
在步骤302中，控制第一机器人按照巡检路径运行，并在第一机器人抵达巡检路径对应的终点时，控制第一机器人返回第一位置，对标记对象的温度进行检测，获得标记对象的第二温度变化信息。
这里，在确定到巡检路径之后，第一机器人按照该巡检路径进行工作，并在第一机器人抵达巡检路径对应的终点之后，控制第一机器人返回第一位置。并控制第一机器人再次对标记对象的温度进行检测，获得标记对象的第二温度变化信息。
应当理解的是，第二温度变化信息的含义与上述实施例中的第一温度变化信息一致，可以参见上述实施例的相关描述，在此不再赘述。
在步骤303中，根据第二温度变化信息，执行与第二温度变化信息对应的动作。
这里，针对不同的第二温度变化信息，可以匹配不同的动作。例如，在第二温度变化信息表征温度升高时，可以执行输出火灾预警信息的动作。在第二温度变化信息表征温度降低时，可以执行取消标记对象的标记的动作。在第二温度变化信息表征温度不变时，可以执行间隔一定时长后再次对标记对象进行温度检测的动作。
应当理解的是，第二温度变化信息表征温度升高，说明标记对象的温度异常升高，存在火灾隐患，此时可以输出火灾预警信息，以使工作人员能够在火灾形成之前，提前发现火灾隐患。
以执行主体为第一机器人为例，第一机器人可以是专门用于火灾巡检的巡检机器人。在第一机器人发现工作环境中存在当前温度小于着火点温度，但当前温度大于预设温度阈值的物品C时，第一机器人对该物品C进行标记，表示物品C可能存在温度异常。然后，第一机器人按照确定到的巡检路径进行巡检，并在巡检路径完成之后，返回物品C对应的第一位置，对物品C进行温度检测，获得物品C的第二温度变化信息，然后第一机器人根据第二温度变化信息执行对应的动作。
由此，通过上述步骤301至步骤303，在第一机器人发现存在温度异常的物品时，第一机器人既可以继续进行工作，也可以再次对该温度异常的物品进行再次检测，以提前发现火灾隐患。
在一些可以实现的实施方式中，可以根据标记对象在当前环境温度下对应的温度升高曲线，确定目标时长。
这里，温度升高曲线是指标记对象在当前环境温度下的温度变化与时间之间的关系。针对不同的环境温度，温度升高曲线可以不同。
应当理解的是，温度升高曲线可以是通过不同环境温度下，不同种类的对象的温度随时间变化的样本数据学习到的。
示例性地，可以根据标记对象的当前温度，结合对应的温度升高曲线，计算得到标记对象从当前温度升高至着火点温度所需的目标时长。
由此，通过温度升高曲线，可以准确地确定到标记对象对应的目标时长。
在一些可以实现的实施方式中，在确定输出火灾预警信息的情况下，根据第一机器人的行走地图，确定对象的位置信息，根据位置信息，生成火灾预警信息，然后输出火灾预警信息。
这里，在根据当前温度以及着火点温度确定输出火灾预警信息的情况下，响应于确定输出火灾预警信息，根据第一机器人的行走地图，确定对象的位置信息。
示例性地，可以根据第一机器人的行走地图，确定第一机器人的所在位置，然后根据第一机器人的所在位置，确定对象的位置信息。
其中，第一机器人的行走地图可以是指第一机器人在移动过程中根据位置估计和地图进行自身定位，同时在自身定位的基础上建造的增量式地图。通过行走地图，能够确定到第一机器人在工作环境中的实时位置。然后，第一机器人可以对视觉范围内的对象进行测距，获得第一机器人的实时位置与对象之间的相对方向以及相对距离，进而根据相对方向、相对距离以及第一机器人在工作环境中的实时位置，确定到对象在环境中的位置信息。
在确定到需要进行预警的对象的位置信息之后，根据该对象的位置信息，生成火灾预警信息。其中，火灾预警信息中可以包括有该对象的位置信息。当然，在其他实施方式中，火灾预警信息也可以包括有该对象的拍摄图像、用于进行火灾预警的文本信息等等。
由此，通过上述实施方式，可以准确确定到需要进行预警的对象的位置信息，以使用户能够根据该位置信息，准确定位存在火灾隐患的物品的位置，从而能够快速且及时地排除火灾隐患。
在一些可以实现的实施方式中，步骤110中，可以通过设置在第一机器人上的拍摄装置，获取拍摄图像，并根据拍摄图像，确定第一机器人的视觉范围内的对象的种类信息。
这里，拍摄装置可以是指设置在第一机器人上的摄像头或者激光雷达等等装置。第一机器人在工作期间，第一机器人可以通过拍摄装置对工作环境进行拍摄，获取拍摄图像。拍摄图像中的内容，为第一机器人的视觉范围内的内容。
以执行主体为第一机器人为例，第一机器人可以通过拍摄图像，确定第一机器人的视觉范围内包括的对象的种类信息。以执行主体为服务器为例，第一机器人获取到拍摄图像之后，第一机器人将拍摄图像上传至服务器，服务器根据拍摄图像，确定第一机器人的视觉范围内的对象的种类信息。
示例性地，可以将拍摄图像输入至图像识别模型，获得第一机器人的视觉范围内的对象的种类信息。其中，图像识别模型可以是利用标记有种类信息的历史拍摄图像，对机器学习模型进行机器学习获得的。该机器学习模型可以是神经网络模型。
由此，通过设置在第一机器人上的拍摄装置，获取拍摄图像，并根据拍摄图像获得对象的种类信息，可以在第一机器人的工作过程中，控制第一机器人对第一机器人的工作环境进行检测，以及时发现工作环境中的火灾隐患。
在一些可以实现的实施方式中，步骤110中，可以通过设置在第一机器人上的温度检测装置，确定对象的当前温度。
这里，温度检测装置可以是用于温度检测的摄像头，例如，该摄像头可以是红外测温摄像头。当然，温度检测装置也可以是其他能够用于温度检测的装置，如温度探测器。
第一机器人在工作期间，第一机器人可以通过温度检测装置对工作环境中的物品的温度进行检测，获得第一机器人视觉范围内包括的对象的当前温度。
由此，通过温度检测装置，可以快速获取到第一机器人视觉范围内包括的对象的当前温度。
在一些可以实现的实施方式中，步骤120中，可以根据对象的种类信息，结合不同种类的对象与该对象的着火点温度之间的映射关系，确定对象对应的着火点温度。
这里，电子设备在确定到对象的种类信息之后，可以基于确定到的种类信息，在映射关系中查找得到该种类信息对应的着火点温度。例如，映射关系可以为：木炭---320-400℃、木材---400-470℃、尼龙---500℃、无烟煤---440-500℃等等。假设第一机器人的视觉范围内包括的对象为木炭、无烟煤，则通过映射关系，可以确定到木炭对应的着火点温度为320-400℃，无烟煤对应的着火点温度为440-500℃。
值得说明的是，不同种类的对象与该对象的着火点温度之间的映射关系可以是预先建立并存储在电子设备的数据库中的。
应当理解的是，不同种类的对象与该对象的着火点温度之间的映射关系，可以是在第一机器人所在的环境下的不同种类的对象与该对象的着火点温度之间的映射关系。也就是说，针对不同的环境，其湿度、温度、压力等等均有所区别，相应地，不同种类的对象对应的着火点温度也可以有所区别。
由此，通过预先建立的映射关系，可以快速确定到第一机器人视觉范围内包括的对象对应的着火点温度。
图4是根据一些实施例示出的一种火灾预警装置的模块连接示意图。如图4所示，在一些可以实现的实施方式中，提供一种火灾预警装置400，该火灾预警装置400包括：
第一确定模块401，被配置为确定第一机器人的视觉范围内的对象的种类信息以及所述对象的当前温度；
第二确定模块402，被配置为根据所述对象的种类信息，确定所述对象对应的着火点温度；
第三确定模块403，被配置为根据所述着火点温度以及所述当前温度，确定是否输出火灾预警信息。
可选地，所述火灾预警装置400还包括：
标记模块，被配置为在所述对象的当前温度小于所述着火点温度的情况下，若所述当前温度大于预设温度阈值，对所述对象进行标记，获得标记对象；
第四确定模块，被配置为根据所述标记对象的第一位置以及第二机器人的第二位置，确定目标机器人，其中所述目标机器人为能够在目标时长到达前抵达所述第一位置的第二机器人，所述目标时长为所述标记对象从所述当前温度升高至所述着火点温度所需的时长；
第一控制模块，被配置为控制所述目标机器人运动至所述第一位置，对所述标记对象进行温度检测，获得所述标记对象的第一温度变化信息；
第一执行模块，被配置为根据所述第一温度变化信息，执行与所述第一温度变化信息对应的动作。
可选地，所述火灾预警装置400还包括：
第五确定模块，被配置为根据所述目标时长，确定所述第一机器人对应的巡检路径，其中所述巡检路径为所述第一机器人能够在所述目标时长到达前，从所述巡检路径对应的终点返回所述第一位置的路径；
第二控制模块，被配置为控制所述第一机器人按照所述巡检路径运行，并在所述第一机器人抵达所述巡检路径对应的终点时，控制所述第一机器人返回所述第一位置，对所述标记对象的温度进行检测，获得所述标记对象的第二温度变化信息；
第二执行模块，被配置为根据所述第二温度变化信息，执行与所述第二温度变化信息对应的动作。
可选地，所述火灾预警装置400还包括：
时长确定模块，被配置为根据所述标记对象在当前环境温度下对应的温度升高曲线，确定所述目标时长。
可选地，所述火灾预警装置400还包括：
位置确定模块，被配置为在确定输出火灾预警信息的情况下，根据所述第一机器人的行走地图，确定所述对象的位置信息；
生成模块，被配置为根据所述位置信息，生成火灾预警信息；
输出模块，被配置为输出所述火灾预警信息。
可选地，所述第一确定模块401具体被配置为：
通过设置在所述第一机器人上的拍摄装置，获取拍摄图像；
根据所述拍摄图像，确定所述第一机器人的视觉范围内的对象的种类信息；
通过设置在所述第一机器人上的温度检测装置，确定所述对象的当前温度。
可选地，所述第二确定模块402具体被配置为：
根据所述对象的种类信息，结合不同种类的对象与该对象的着火点温度之间的映射关系，确定所述对象对应的着火点温度。
关于上述火灾预警装置400中的各个功能模块执行的功能逻辑已经在关于方法的部分进行了详细说明，在此不再赘述。
下面参考图5，其示出了适于用来实现本公开实施例的电子设备(例如机器人或服务器)500的结构示意图。图5示出的电子设备仅仅是一个示例，不应对本公开实施例的功能和使用范围带来任何限制。
如图5所示，电子设备500可以包括处理装置(例如中央处理器、图形处理器等)501，其可以根据存储在只读存储器(ROM)502中的程序或者从存储装置508加载到随机访问存储器(RAM)503中的程序而执行各种适当的动作和处理。在RAM 503中，还存储有电子设备500操作所需的各种程序和数据。处理装置501、ROM 502以及RAM 503通过总线504彼此相连。输入/输出(I/O)接口505也连接至总线504。当然，在电子设备500为机器人时，电子设备500还可以包括其他结构，如运动机构、拍摄装置、温度检测装置等等结构。
通常，以下装置可以连接至I/O接口505：包括例如触摸屏、触摸板、键盘、鼠标、摄像头、麦克风、加速度计、陀螺仪等的输入装置506；包括例如液晶显示器(LCD)、扬声器、振动器等的输出装置507；包括例如磁带、硬盘等的存储装置508；以及通信装置509。通信装置509可以允许电子设备500与其他设备进行无线或有线通信以交换数据。虽然图5示出了具有各种装置的电子设备500，但是应理解的是，并不要求实施或具备所有示出的装置。可以替代地实施或具备更多或更少的装置。
根据本公开的实施例，上文参考流程图描述的过程可以被实现为计算机软件程序。例如，本公开的实施例包括一种计算机程序产品，其包括承载在非暂态计算机可读介质上的计算机程序，该计算机程序包含用于执行流程图所示的方法的程序代码。在这样的实施例中，该计算机程序可以通过通信装置509从网络上被下载和安装，或者从存储装置508被安装，或者从ROM 502被安装。在该计算机程序被处理装置501执行时，执行本公开实施例的方法中限定的上述功能。
需要说明的是，本公开上述的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本公开中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。而在本公开中，计算机可读信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读信号介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：电线、光缆、RF(射频)等等，或者上述的任意合适的组合。
在一些实施方式中，机器人与服务器可以利用诸如HTTP(HyperText Transfer Protocol，超文本传输协议)之类的任何当前已知或未来研发的网络协议进行通信，并且可以与任意形式或介质的数字数据通信(例如，通信网络)互连。通信网络的示例包括局域网(“LAN”)，广域网(“WAN”)，网际网(例如，互联网)以及端对端网络(例如，ad hoc端对端网络)，以及任何当前已知或未来研发的网络。
上述计算机可读介质可以是上述电子设备中所包含的；也可以是单独存在，而未装配入该电子设备中。
上述计算机可读介质承载有一个或者多个程序，当上述一个或者多个程序被该电子设备执行时，使得该电子设备：确定第一机器人的视觉范围内的对象的种类信息以及所述对象的当前温度；根据所述对象的种类信息，确定所述对象对应的着火点温度；根据所述着火点温度以及所述当前温度，确定是否输出火灾预警信息。
可以以一种或多种程序设计语言或其组合来编写用于执行本公开的操作的计算机程序代码，上述程序设计语言包括但不限于面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言——诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)——连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。
附图中的流程图和框图，图示了按照本公开各种实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，该模块、程序段、或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
描述于本公开实施例中所涉及到的模块可以通过软件的方式实现，也可以通过硬件的方式来实现。其中，模块的名称在某种情况下并不构成对该模块本身的限定。
本公开中以上描述的功能可以至少部分地由一个或多个硬件逻辑部件来执行。例如，非限制性地，可以使用的示范类型的硬件逻辑部件包括：现场可编程门阵列(FPGA)、专用集成电路(ASIC)、专用标准产品(ASSP)、片上系统(SOC)、复杂可编程逻辑设备(CPLD)等等。
在本公开的上下文中，机器可读介质可以是有形的介质，其可以包含或存储以供指令执行系统、装置或设备使用或与指令执行系统、装置或设备结合地使用的程序。机器可读介质可以是机器可读信号介质或机器可读储存介质。机器可读介质可以包括但不限于电子的、磁性的、光学的、电磁的、红外的、或半导体系统、装置或设备，或者上述内容的任何合适组合。机器可读存储介质的更具体示例会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或快闪存储器)、光纤、便捷式紧凑盘只读存储器(CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。
以上描述仅为本公开的实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本公开中所涉及的公开范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离上述公开构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本公开中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。
此外，虽然采用特定次序描绘了各操作，但是这不应当理解为要求这些操作以所示出的特定次序或以顺序次序执行来执行。在一定环境下，多任务和并行处理可能是有利的。同样地，虽然在上面论述中包含了若干具体实现细节，但是这些不应当被解释为对本公开的范围的限制。在单独的实施例的上下文中描述的某些特征还可以组合地实现在单个实施例中。相反地，在单个实施例的上下文中描述的各种特征也可以单独地或以任何合适的子组合的方式实现在多个实施例中。
尽管已经采用特定于结构特征和/或方法逻辑动作的语言描述了本公开，但是应当理解所附权利要求书中所限定的主题未必局限于上面描述的特定特征或动作。相反，上面所描述的特定特征和动作仅仅是实现权利要求书的示例形式。关于上述实施例中的装置，其中各个模块执行操作的具体方式已经在有关该方法的实施例中进行了详细描述，此处将不做详细阐述说明。

Claims (10)

  1. 一种火灾预警方法，包括：
    确定第一机器人的视觉范围内的对象的种类信息以及所述对象的当前温度；
    根据所述对象的种类信息，确定所述对象对应的着火点温度；
    根据所述着火点温度以及所述当前温度，确定是否输出火灾预警信息。
  2. 根据权利要求1所述的方法，还包括：
    在所述对象的当前温度小于所述着火点温度的情况下，若所述当前温度大于预设温度阈值，对所述对象进行标记，获得标记对象；
    根据所述标记对象的第一位置以及第二机器人的第二位置，确定目标机器人，其中所述目标机器人为能够在目标时长到达前抵达所述第一位置的第二机器人，所述目标时长为所述标记对象从所述当前温度升高至所述着火点温度所需的时长；
    控制所述目标机器人运动至所述第一位置，对所述标记对象进行温度检测，获得所述标记对象的第一温度变化信息；
    根据所述第一温度变化信息，执行与所述第一温度变化信息对应的动作。
  3. 根据权利要求2所述的方法，还包括：
    根据所述目标时长，确定所述第一机器人对应的巡检路径，其中所述巡检路径为所述第一机器人能够在所述目标时长到达前，从所述巡检路径对应的终点返回所述第一位置的路径；
    控制所述第一机器人按照所述巡检路径运行，并在所述第一机器人抵达所述巡检路径对应的终点时，控制所述第一机器人返回所述第一位置，对所述标记对象的温度进行检测，获得所述标记对象的第二温度变化信息；
    根据所述第二温度变化信息，执行与所述第二温度变化信息对应的动作。
  4. 根据权利要求2或3所述的方法，其中，所述目标时长通过以下步骤确定：
    根据所述标记对象在当前环境温度下对应的温度升高曲线，确定所述目标时长。
  5. 根据权利要求1-4任一项所述的方法，还包括：
    在确定输出火灾预警信息的情况下，根据所述第一机器人的行走地图，确定所述对象的位置信息；
    根据所述位置信息，生成火灾预警信息；
    输出所述火灾预警信息。
  6. 根据权利要求1-5任一项所述的方法，其中，所述确定所述第一机器人的视觉范围内的对象的种类信息以及所述对象的当前温度，包括：
    通过设置在所述第一机器人上的拍摄装置，获取拍摄图像；
    根据所述拍摄图像，确定所述第一机器人的视觉范围内的对象的种类信息；
    通过设置在所述第一机器人上的温度检测装置，确定所述对象的当前温度。
  7. 根据权利要求1-6任一项所述的方法，其中，所述根据所述对象的种类信息，确定所述对象对应的着火点温度，包括：
    根据所述对象的种类信息，结合不同种类的对象与所述对象的着火点温度之间的映射关系，确定所述对象对应的着火点温度。
  8. 一种火灾预警装置，包括：
    第一确定模块，被配置为确定第一机器人的视觉范围内的对象的种类信息以及所述对象的当前温度；
    第二确定模块，被配置为根据所述对象的种类信息，确定所述对象对应的着火点温度；
    第三确定模块，被配置为根据所述着火点温度以及所述当前温度，确定是否输出火灾预警信息。
  9. 一种计算机可读介质，存储有计算机程序，其中，所述计算机程序被处理装置执行时实现权利要求1-7中任一项所述火灾预警方法。
  10. 一种电子设备，其中，包括：
    存储装置，存储有计算机程序；
    处理装置，被配置为执行所述存储装置中的所述计算机程序，以实现权利要求1-7中任一项所述火灾预警方法。
PCT/CN2025/072842 2024-02-04 2025-01-16 火灾预警方法、装置、介质以及电子设备 Pending WO2025161985A1 (zh)

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