Fire fighting robot fire monitor control method based on fire source positioning and recognition

Abstract

The invention discloses a fire fighting robot fire monitor control method based on fire source positioning and recognition. The method comprises the steps that a calibrated binocular infrared camera is utilized for recognizing a fire source and positioning the center point of the fire source, and according to position deflection obtained in two images collected by the binocular infrared camera atthe fire source center point, the distance between the fire source center point and a fire fighting robot is calculated and determined as the fire source center point depth; the fire source center point depth serves as the position parameter of the fire source center point in the three-dimensional space; jet flow track models are established, the yaw angle between a fire monitor and the fire source center point and the vertical distance between the fire source center point and the binocular infrared camera are calculated and serve as fire source center point three-dimensional position parameters; and the pitching angle is calculated, the fire monitor is controlled, and accordingly the fire monitor jet flow track fall point serves as the fire source center point. By means of the fire fighting robot fire monitor control method, the fire monitor of the fire fighting robot can be efficiently, rapidly and conveniently controlled to aim at the fire source, the fire monitor angle adjusting time is saved, the fire fighting work difficulty can be lowered, and efficiency is improved.

Description

technical field [0001] The invention relates to a fire-fighting robot fire cannon control method based on fire source positioning and identification, and belongs to the technical field of fire-fighting robots. Background technique [0002] Firefighting robot is a kind of special robot that integrates fire extinguishing, temperature and dust reduction, explosion protection, and emergency rescue. This type of robot has a strong ability to overcome obstacles and adapt to the ground. It can replace fire trucks to enter dangerous and complex environments, and solve the problem of insufficient range of fire cannons carried by fire trucks due to roadblocks. [0003] The unmanned fire-fighting robot adopts the control method of remote operation + local autonomy, and uses the remote-operation controller so that the operator can control the robot according to the environmental conditions of the fire scene, which improves the reliability and work efficiency of the fire-fighting robot. ...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art, provide a fire-fighting robot fire monitor control method based on fire source location an

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