Fire source positioning and fire extinguishing control method for fire-fighting robot

Abstract

The invention discloses a fire source positioning and fire extinguishing control method for a fire-fighting robot. Two thermal imaging module cameras are mounted at the top of the fire-fighting robot at equal height, a water gun is mounted on one side of the fire-fighting robot, and one thermal imaging module camera is mounted on the water gun. According to the method, fire source identification is carried out based on the pixel points, and compared with image identification or target detection, a fire source identification speed is higher; after a fire source is identified, fire source coarse positioning is performed according to the thermal imaging module cameras on the top of the fire-fighting robot, and then fire source accurate positioning is performed according to the thermal imaging module camera on the water gun, so that the accuracy of fire source positioning is ensured; and finally, after the fire source is accurately positioned, the fire source is adjusted to be in the middle lower position in a corresponding thermal imaging image of the water gun by considering an actual water spraying path of the water gun, so that the actual fire extinguishing effect is guaranteed.

Description

technical field [0001] The application belongs to the technical field of fire-fighting robots, and in particular relates to a fire source location and fire-extinguishing control method for a fire-fighting robot. Background technique [0002] When a fire breaks out, the environment of the fire scene is very complicated, and the information of the fire scene will also be missing, which will make it difficult to carry out fire fighting operations on the spot, and pose the most direct threat to the life safety of firefighters. Therefore, the fire-fighting robot came into being. The fire-fighting robot replaces or assists people to complete the fire-extinguishing function, and protects the lives of firefighters while completing rescue and disaster relief work. [0003] The fire-fighting robot based on the two-wheel self-balancing scheme can save design space, overcome the disadvantages of complex structure of the multi-wheel system, and has the advantages of reduced mechanical co...

AI Technical Summary

Problems solved by technology

At present, the identification of fire sources is mostly based on image processing or target detection, but the recognition speed of the above-mentioned methods is relatively slow. By the time the fire source is determined and located, and the fire-fighting robot responds and extinguishes the fire, the fire may have become serious.

Moreover, the fire source recognition based on image processing or target detection has certain requirements for cameras and industrial computers, and there are many equipment restrictions, and the corresponding fire extinguishing costs also increase accordingly.

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