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Fire-fighting robot spraying curve adjusting method and device based on multi-view vision

A fire-fighting robot, spray curve technology, applied in the direction of instruments, computer control, computer parts, etc., can solve the problems of people being unable to approach the scene, single spray mode, large fire-fighting flow of fire-fighting robots, etc., to improve work efficiency and reduce workload. , the effect of improving efficiency and fire extinguishing ability

Active Publication Date: 2020-02-25
STATE GRID INTELLIGENCE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] (1) The fire-fighting robot's fire-fighting flow is too large, covering a large area in the station, and affecting the normal operation of equipment in the station during fire-fighting operations;
[0006] (2) Simple remote control of fire-fighting robot operations, people cannot approach the scene, and can only remotely adjust the operating angle through video signals; the spraying mode is single, and only the spraying direction can be adjusted

Method used

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  • Fire-fighting robot spraying curve adjusting method and device based on multi-view vision
  • Fire-fighting robot spraying curve adjusting method and device based on multi-view vision

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0054] figure 1 The flow chart of the method for adjusting the spraying curve of a fire fighting robot based on multi-eye vision involved in this embodiment. Such as figure 1 As shown, the fire robot injection curve adjustment method may further comprise the steps:

[0055] S101. Acquire visual image information and infrared image information of a scene environment collected by a multi-eye vision device.

[0056] The image information of the scene environment is collected through the ordinary vision camera of the multi-eye vision device, including the image information of the equipment in the scene environment, the image information of the fire situation in the scene environment, and the smoke concentration information in the scene environment. If you are at the scene of a fire, you can collect visual image information such as fire equipment, fire size, and smoke density through multi-eye vision equipment.

[0057] The infrared images of the scene environment are collected ...

Embodiment 2

[0095] This embodiment provides a fire robot spray curve adjustment device based on multi-eye vision, the device includes:

[0096] The image acquisition module is used to acquire the visual image information and infrared image information of the scene environment collected by the multi-eye vision equipment;

[0097] The image preprocessing module is used to preprocess the obtained visual image information and infrared image information respectively;

[0098] The fire area determination module is used to determine the fire area according to the preprocessing results of the visual image information and the infrared image information;

[0099] The injection position determination module is used to establish the injection curve model according to the fire area, identify the water column drop point, and determine the optimal injection angle and injection flow rate;

[0100] The injection mode adjustment module is used to analyze the condition of the fire equipment in the fire are...

Embodiment 3

[0126] This embodiment provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the following steps are implemented;

[0127] Obtain the visual image information and infrared image information of the scene environment collected by the multi-eye vision equipment;

[0128] Preprocessing the obtained visual image information and infrared image information respectively;

[0129] Determine the fire area according to the preprocessing results of visual image information and infrared image information;

[0130] According to the fire area, establish the injection curve model, identify the water column drop point, and determine the optimal injection angle and injection flow rate;

[0131] Analyze the condition of the fire equipment in the fire area, and determine the best fire extinguishing position and distance;

[0132] Judging the size of the fire of the ignition equipment, select the best injection mode. ...

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Abstract

The invention discloses a fire-fighting robot spraying curve adjusting method and device based on multi-view vision, which can monitor the operation progress in real time by using multi-view vision equipment in the fire-fighting operation process, adjust the spraying angle and flow according to the fire behavior, realize accurate fire extinguishment and do not influence other normal operation equipment in a station. The method comprises the following steps: acquiring visual image information and infrared image information of a field environment acquired by multi-view visual equipment; respectively preprocessing the obtained visual image information and infrared image information, and respectively determining corresponding suspicious fire areas; according to a preprocessing result of the visual image information and the infrared image information, positioning the position of an ignition point; establishing an injection curve model according to the position of the ignition point, identifying a water column drop point, and determining an optimal injection angle and an optimal injection flow; analyzing the condition of ignition equipment, and determining the optimal fire extinguishingposition and distance; and determining the size of field fire, and selecting an optimal injection mode based on the position of an ignition point.

Description

technical field [0001] The present disclosure relates to the technical field of fire-fighting robots, in particular to a method and device for adjusting spray curves of fire-fighting robots based on multi-eye vision. Background technique [0002] Existing fire-fighting robots rely solely on manual remote control to adjust the position and angle of spraying during fire-fighting operations, and most of them are extensive fire-fighting with large flow and full coverage, which is not suitable for fire-fighting operations for single faulty equipment in substations. [0003] The vast majority of fire-fighting robots used in existing substations use manual remote control control boxes, followed by fire trucks for water supply, which only play the role of replacing firefighters. The spray flow is not controlled, and the spray direction can only be adjusted. The operation process is also inseparable from human intervention. [0004] The inventor found in the research and development...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/32G06K9/46A62C37/00G05B15/02
CPCA62C37/00G05B15/02G06V20/10G06V10/25G06V10/56
Inventor 李建祥王宇航钱元梁阮鹏程周大洲王海鹏张海龙郭锐王海磊刘海波刘丕玉赵亚博李瑜
Owner STATE GRID INTELLIGENCE TECH CO LTD
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