A thermal guidance positioning method and system for a fire-fighting robot

Abstract

The present disclosure belongs to the technical field of robot scheduling and control, and specifically relates to a thermal guidance positioning method and system for a fire-fighting robot, comprising: acquiring heat source data and fire source data; constructing a matrix according to the acquired heat source data and fire source data; performing convolution pooling processing on the constructed matrix to obtain a one-dimensional output matrix; and performing weighted calculation on the obtained one-dimensional output matrix to realize the thermal guidance positioning of the fire-fighting robot.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot dispatching and control, and in particular relates to a thermal guidance positioning method and system for a fire-fighting robot. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] With the development of the economy, electricity, as the most important energy supply method, has higher and higher requirements for safety and reliability, which also poses new challenges to power transmission security. Urban power transmission mainly uses power tunnels, pipe trenches, direct burial and other methods to lay high-voltage cables. In recent years, the construction of urban integrated pipeline corridors has been in full swing. In terms of safety assurance, fire protection is the most important protection content. From the perspective of on-site accidents, whether the cable trench fire is a joint explosion or a fire in the equipment, it will pose a serious threat to other equipment and circuits in the carrier; if the integrated pipeline corridor catches fire, the losses will be even more immeasurable. From the perspective of fire protection, the disaster situation must be discovered in advance and handled in an emergency, that is, online monitoring and fire extinguishing.

[0004] At present, the main measures for fire protection in power tunnels include: painting cables with fireproof materials, adding safety explosion-proof shells to cable joints, hanging passively triggered fire extinguishing bombs and fire bombs on cables and joints, as well as intelligent robot inspections and mobile fire fighting.

[0005] According to the inventor's understanding, most cable outer sheath insulation materials are hydrocarbons such as polyvinyl chloride / cross-linked polyethylene, and flame retardants are added to increase the ignition point of the cable. However, the accumulated heat caused by the dense cables or the large amount of heat released during a fault will cause the material to decompose and the insulation to deteriorate. Once the ignition point is reached and a fire occurs, it will burn violently and produce a large amount of smoke. The heat radiation formed by the fire and the heat rise in the vertical direction of the smoke form a temperature gradient thermal stratification effect. The smoke plume formed in the early stage of the fire is rapidly diluted by the suction effect of the gradient air, and the temperature difference with the surrounding environment gradually decreases. When the rising speed of the plume drops to zero buoyancy, it stays at a certain height. Summary of the invention

[0006] In order to solve the above problems, the present disclosure proposes a thermal guidance positioning method and system for a fire-fighting robot, which can quickly and accurately detect and locate heat sources and fire sources, and realize thermal guidance positioning based on the fire-fighting robot.

[0007] According to some embodiments, a first solution of the present disclosure provides a thermal guidance positioning method for a fire-fighting robot, which adopts the following technical solution:

[0008] A thermal guidance positioning method for a fire-fighting robot, comprising:

[0009] Obtain heat source data and fire source data;

[0010] Construct a matrix based on the acquired heat source data and fire source data;

[0011] Perform convolution pooling on the constructed matrix to obtain a one-dimensional output matrix;

[0012] The obtained one-dimensional output matrix is ​​weighted to realize the thermal guidance positioning of the fire-fighting robot.

[0013] As a further technical limitation, in the process of obtaining heat source data and fire source data, the fire-fighting robot adopts a hoisting rail robot, detects the front temperature and the rear temperature based on the infrared detectors arranged at the front and rear ends of the fire-fighting robot, obtains the open flame temperature through the photosensitive detector arranged under the fire-fighting robot, and obtains the solid particle concentration in the environment through the smoke detector arranged on the side of the fire-fighting robot, thereby obtaining the heat source data and fire source data of the environment in which the fire-fighting robot is located.

[0014] As a further technical limitation, in the process of constructing the matrix, the acquired heat source data and fire source data are normalized, and the matrix is ​​constructed according to the normalized result; the constructed matrix is ​​a Hankel matrix, that is, the Hankel matrix X is Among them, R1 represents the value of the ultraviolet flame detector obtained, with an open flame being recorded as 1 and no open flame being recorded as 0; R2 and R3 respectively represent the infrared temperature values ​​obtained in front of and behind the robot; R4, R5, R6 and R7 respectively represent the gas contents of hydrogen sulfide, oxygen, carbon monoxide and methane in the environment obtained; R8 represents the concentration of solid particles in the environment obtained.

[0015] Furthermore, the obtained Hankel matrix X is subjected to convolution pooling. In the process of convolution pooling, the convolution kernel matrix C used is: Among them, v represents the running speed of the fire-fighting robot; the features of the original data in the Hankel matrix X are extracted according to the parameters in the convolution kernel matrix C used, and the original data features consistent with the parameters in the convolution kernel matrix C are extracted by combining the matrix dot multiplication operation to complete the convolution pooling processing.

[0016] Furthermore, the obtained Hankel matrix X is subjected to two convolution pooling processes to obtain a one-dimensional output matrix Y, that is, Y = [t1 t2 t3]; where t1, t2 and t3 represent data matrix elements respectively.

[0017] Furthermore, a weight matrix W = [w1 w2 w3] is constructed; wherein w1, w2 and w3 represent weight matrix elements respectively; in combination with the constructed weight matrix W, a weighted calculation is performed on the obtained one-dimensional output matrix Y, and the result value R after the weighted calculation is R = Y·W.

[0018] As a further technical limitation, a thermal guidance positioning warning of the fire-fighting robot is performed based on the weighted calculation result, the first threshold and the second threshold. When the weighted calculation result is less than the first threshold, the current fire-fighting robot is in a no-alarm state; when the weighted calculation result is between the first threshold and the second threshold, the current fire-fighting robot is in an alarm state to be confirmed; when the weighted calculation result is greater than the second threshold, the current fire-fighting robot is in an alarm state.

[0019] According to some embodiments, a second solution of the present disclosure provides a thermal guidance positioning system for a fire-fighting robot, which adopts the following technical solution:

[0020] A thermal guidance positioning system for a fire-fighting robot, comprising:

[0021] an acquisition module configured to acquire heat source data and fire source data;

[0022] A construction module, which is configured to construct a matrix according to the acquired heat source data and fire source data;

[0023] A processing module, configured to perform convolution and pooling processing on the constructed matrix to obtain a one-dimensional output matrix;

[0024] The thermal guidance module is configured to perform weighted calculation on the obtained one-dimensional output matrix to achieve thermal guidance positioning of the fire-fighting robot.

[0025] According to some embodiments, a third solution of the present disclosure provides a computer-readable storage medium, which adopts the following technical solution:

[0026] A computer-readable storage medium stores a program, which, when executed by a processor, implements the steps in the thermal guidance positioning method for a fire-fighting robot as described in the first aspect of the present disclosure.

[0027] According to some embodiments, a fourth solution of the present disclosure provides an electronic device, which adopts the following technical solution:

[0028] An electronic device comprises a memory, a processor and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the thermal guidance positioning method for a fire-fighting robot as described in the first aspect of the present disclosure are implemented.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] The present invention obtains the heat source data and fire source data of the environment of the fire-fighting robot in real time through the detectors arranged on the fire-fighting robot, performs thermal guidance and positioning of the fire-fighting robot through analysis and processing of the acquired heat source data and fire source data, and simultaneously makes corresponding early warnings, thereby quickly and accurately discovering and locating the heat source and fire source, thereby realizing thermal guidance and positioning based on the fire-fighting robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings constituting a part of the present disclosure are used to provide a further understanding of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure.

[0032] Figure 1 is a flow chart of the thermal guidance positioning method of the fire-fighting robot in the first embodiment of the present disclosure;

[0033] Figure 2 is a schematic diagram of the steps of the thermal guidance positioning method of the fire-fighting robot in the first embodiment of the present disclosure;

[0034] Figure 3 It is a structural block diagram of the thermal guidance and positioning system of the fire-fighting robot in the second embodiment of the present disclosure. DETAILED DESCRIPTION

[0035] The present disclosure is further described below in conjunction with the accompanying drawings and embodiments.

[0036] It should be noted that the following detailed descriptions are all illustrative and are intended to provide further explanation of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present disclosure belongs.

[0037] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0038] In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present disclosure, and do not specifically refer to any part or element in the present disclosure and should not be understood as limitations on the present disclosure.

[0039] In the present disclosure, terms such as "fixed connection", "connected", "connection", etc. should be understood in a broad sense, indicating that it can be fixedly connected, integrally connected or detachably connected; it can be directly connected or indirectly connected through an intermediate medium. For relevant scientific research or technical personnel in this field, the specific meanings of the above terms in the present disclosure can be determined according to specific circumstances, and they cannot be understood as limitations on the present disclosure.

[0040] In the absence of conflict, the embodiments in the present disclosure and the features in the embodiments may be combined with each other.

[0041] Embodiment 1

[0042] Embodiment 1 of the present disclosure introduces a thermal guidance positioning method for a fire-fighting robot.

[0043] like Figure 1 and Figure 2 A heat guidance positioning method for a fire-fighting robot is shown, comprising:

[0044] Obtain heat source data and fire source data;

[0045] Construct a matrix based on the acquired heat source data and fire source data;

[0046] Perform convolution pooling on the constructed matrix to obtain a one-dimensional output matrix;

[0047] The obtained one-dimensional output matrix is ​​weighted to realize the thermal guidance positioning of the fire-fighting robot.

[0048] As a further technical limitation, according to the characteristics of the measurement environment, the temperature detector uses infrared temperature measurement. The modified infrared thermometer can focus the plane temperature matrix into a point and obtain a temperature value; the photosensitive detector uses an ultraviolet flame detector, which can only detect open flames; the smoke detector can measure the concentration of solid particles in the environment; the gas detector measures the content of gases such as hydrogen sulfide, oxygen, carbon monoxide, and methane.

[0049] Temperature, the presence of open flames, and data on environmental solid particles and gas content are obtained through temperature detectors, photosensitive detectors and smoke detectors. The infrared detectors are mounted on the front and rear ends of the fire-fighting robot to detect the front and rear temperatures respectively; the photosensitive detector is at the bottom of the fire-fighting robot. Since the fire-fighting robot is a hoisting rail robot, the data of ultraviolet flame detection is the data directly below the robot.

[0050] As a further technical limitation, the value of the ultraviolet flame detector is obtained, with an open flame as 1 and no open flame as 0, recorded as r1; the infrared temperature values ​​are collected and recorded as r2 and r3, representing the temperature in front of and behind the robot respectively; the value of the ultraviolet flame detector is obtained, with an open flame as 1 and no open flame as 0, recorded as r1; the gas content in the environment is obtained, recorded as r4-r7; the solid particle concentration in the environment is obtained, recorded as r8; and r1-r8 are normalized respectively.

[0051] As a further technical limitation, the acquired heat source data and fire source data are normalized, and a matrix is ​​constructed according to the normalized result; the constructed matrix is ​​a Hankel matrix, that is, the Hankel matrix X is

[0052] Among them, R1 represents the value of the ultraviolet flame detector obtained, with an open flame being recorded as 1 and no open flame being recorded as 0; R2 and R3 respectively represent the infrared temperature values ​​obtained in front of and behind the robot; R4, R5, R6 and R7 respectively represent the gas contents of hydrogen sulfide, oxygen, carbon monoxide and methane in the environment obtained; R8 represents the concentration of solid particles in the environment obtained.

[0053] As a further technical limitation, the obtained Hankel matrix X is subjected to convolution pooling. In the process of convolution pooling, the convolution kernel matrix C used is Among them, v represents the running speed of the fire-fighting robot; the features of the original data in the Hankel matrix X are extracted according to the parameters in the convolution kernel matrix C used, and the original data features consistent with the parameters in the convolution kernel matrix C are extracted by combining the matrix dot multiplication operation to complete the convolution pooling processing.

[0054] As a further technical limitation, the obtained Hankel matrix X is subjected to two convolution pooling processes to obtain a one-dimensional output matrix Y, that is, Y = [t1 t2 t3]; wherein t1, t2 and t3 represent data matrix elements respectively.

[0055] As a further technical limitation, a weight matrix W = [w1 w2 w3] is constructed; wherein w1, w2 and w3 represent weight matrix elements respectively; and a weighted calculation is performed on the obtained one-dimensional output matrix Y in combination with the constructed weight matrix W, so that the result value R after the weighted calculation is R = Y·W.

[0056] As a further technical limitation, a thermal guidance positioning warning of the fire-fighting robot is performed based on the weighted calculation result, the first threshold value L1 and the second threshold value L2. When the weighted calculation result is less than the first threshold value L1, the current fire-fighting robot is in a no-alarm state; when the weighted calculation result is between the first threshold value L1 and the second threshold value L2, the current fire-fighting robot is in an alarm state to be confirmed; when the weighted calculation result is greater than the second threshold value L2, the current fire-fighting robot is in an alarm state.

[0057] The present invention obtains the heat source data and fire source data of the environment of the fire-fighting robot in real time through the detectors arranged on the fire-fighting robot, performs thermal guidance and positioning of the fire-fighting robot through analysis and processing of the acquired heat source data and fire source data, and simultaneously makes corresponding early warnings, thereby quickly and accurately discovering and locating the heat source and fire source, thereby realizing thermal guidance and positioning based on the fire-fighting robot.

[0058] Embodiment 2

[0059] A second embodiment of the present disclosure introduces a thermal guidance and positioning system for a fire-fighting robot.

[0060] like Figure 3 A heat guidance and positioning system of a fire-fighting robot is shown, comprising:

[0061] an acquisition module configured to acquire heat source data and fire source data;

[0062] A construction module, which is configured to construct a matrix according to the acquired heat source data and fire source data;

[0063] A processing module, configured to perform convolution and pooling processing on the constructed matrix to obtain a one-dimensional output matrix;

[0064] The thermal guidance module is configured to perform weighted calculation on the obtained one-dimensional output matrix to achieve thermal guidance positioning of the fire-fighting robot.

[0065] The detailed steps are the same as those of the thermal guidance positioning method for the fire-fighting robot provided in the first embodiment, and will not be repeated here.

[0066] Embodiment 3

[0067] A third embodiment of the present disclosure provides a computer-readable storage medium.

[0068] A computer-readable storage medium stores a program, which, when executed by a processor, implements the steps in the thermal guidance positioning method for a fire-fighting robot as described in the first embodiment of the present disclosure.

[0069] The detailed steps are the same as those of the thermal guidance positioning method for the fire-fighting robot provided in the first embodiment, and will not be repeated here.

[0070] Embodiment 4

[0071] A fourth embodiment of the present disclosure provides an electronic device.

[0072] An electronic device comprises a memory, a processor and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the thermal guidance positioning method for a fire-fighting robot as described in the first embodiment of the present disclosure are implemented.

[0073] The detailed steps are the same as those of the thermal guidance positioning method for the fire-fighting robot provided in the first embodiment, and will not be repeated here.

[0074] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

[0075] Although the above describes the specific implementation methods of the present disclosure in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present disclosure. Technical personnel in the relevant field should understand that on the basis of the technical solution of the present disclosure, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present disclosure.

Claims

1. A thermal guidance positioning method for a fire-fighting robot, characterized in that: include: Obtain heat source data and fire source data; Construct a matrix based on the acquired heat source data and fire source data; In the process of constructing the matrix, the acquired heat source data and fire source data are normalized, and the matrix is ​​constructed according to the normalized results; the constructed matrix is ​​the Hankel matrix, and the Hankel matrix X is Among them, r1 represents the value of the ultraviolet flame detector obtained, with an open flame being recorded as 1 and no open flame being recorded as 0; r2 and r3 represent the infrared temperature values ​​obtained in front of and behind the robot respectively; r4, r5, r6 and r7 represent the gas contents of hydrogen sulfide, oxygen, carbon monoxide and methane in the environment respectively; r8 represents the concentration of solid particles in the environment; Perform convolution pooling on the constructed matrix to obtain a one-dimensional output matrix; The obtained Hankel matrix X is subjected to convolution pooling. During the convolution pooling process, the convolution kernel matrix C used is Wherein, v represents the running speed of the fire-fighting robot; according to the parameters in the adopted convolution kernel matrix C, the features of the original data in the Hankel matrix X are extracted, and the original data features consistent with the parameters in the convolution kernel matrix C are extracted by combining the matrix dot multiplication operation to complete the convolution pooling process; The obtained one-dimensional output matrix is ​​weighted to realize the thermal guidance positioning of the fire-fighting robot.

2. A thermal guidance positioning method for a fire-fighting robot as claimed in claim 1, characterized in that: In the process of obtaining heat source data and fire source data, the fire-fighting robot uses a hoisting rail robot to detect the front temperature and the rear temperature based on the infrared detectors installed at the front and rear ends of the fire-fighting robot, obtains the open flame temperature through the photosensitive detector installed under the fire-fighting robot, and obtains the solid particle concentration in the environment through the smoke detector installed on the side of the fire-fighting robot, thereby obtaining the heat source data and fire source data of the environment in which the fire-fighting robot is located.

3. A thermal guidance positioning method for a fire-fighting robot as claimed in claim 1, characterized in that: The obtained Hankel matrix X is subjected to two convolution pooling processes to obtain a one-dimensional output matrix Y, that is, Y = [t1 t2 t3]; where t1, t2 and t3 represent data matrix elements respectively.

4. A thermal guidance positioning method for a fire-fighting robot as claimed in claim 3, characterized in that: Construct a weight matrix W = [w1 w2 w3]; wherein w1, w2 and w3 represent weight matrix elements respectively; combine the constructed weight matrix W to perform weighted calculation on the obtained one-dimensional output matrix Y, and the result value R after weighted calculation is R = Y·W.

5. A thermal guidance positioning method for a fire-fighting robot as claimed in claim 1, characterized in that: According to the weighted calculation result, the first threshold and the second threshold, the fire-fighting robot is given a thermal guidance positioning warning. When the weighted calculation result is less than the first threshold, the current fire-fighting robot is in a no-alarm state; when the weighted calculation result is between the first threshold and the second threshold, the current fire-fighting robot is in an alarm state to be confirmed; when the weighted calculation result is greater than the second threshold, the current fire-fighting robot is in an alarm state.

6. A thermal guidance positioning system for a fire-fighting robot, characterized in that: include: an acquisition module configured to acquire heat source data and fire source data; A construction module, which is configured to construct a matrix according to the acquired heat source data and fire source data; In the process of constructing the matrix, the acquired heat source data and fire source data are normalized, and the matrix is ​​constructed according to the normalized results; the constructed matrix is ​​the Hankel matrix, and the Hankel matrix X is Among them, r1 represents the value of the ultraviolet flame detector obtained, with an open flame being recorded as 1 and no open flame being recorded as 0; r2 and r3 represent the infrared temperature values ​​obtained in front of and behind the robot respectively; r4, r5, r6 and r7 represent the gas contents of hydrogen sulfide, oxygen, carbon monoxide and methane in the environment respectively; r8 represents the concentration of solid particles in the environment; A processing module, configured to perform convolution and pooling processing on the constructed matrix to obtain a one-dimensional output matrix; The obtained Hankel matrix X is subjected to convolution pooling. During the convolution pooling process, the convolution kernel matrix C used is Wherein, v represents the running speed of the fire-fighting robot; according to the parameters in the adopted convolution kernel matrix C, the features of the original data in the Hankel matrix X are extracted, and the original data features consistent with the parameters in the convolution kernel matrix C are extracted by combining the matrix dot multiplication operation to complete the convolution pooling process; The thermal guidance module is configured to perform weighted calculation on the obtained one-dimensional output matrix to achieve thermal guidance positioning of the fire-fighting robot.

7. A computer-readable storage medium having a program stored thereon, characterized in that: When the program is executed by a processor, the steps in the thermal guidance positioning method for a fire-fighting robot as described in any one of claims 1 to 5 are implemented.

8. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps in the thermal guidance positioning method for a fire-fighting robot according to any one of claims 1 to 5 are implemented.

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