Mobile photographing device, system and method for fire fighting access occupation detection

Abstract

The invention discloses a mobile photographing device for fire fighting access occupation detection. The mobile photographing device comprises a trolley, an image acquisition assembly and a main control computer, the image acquisition assembly comprises a servo motor, a box body, a sliding rail, an electric lead screw, a sliding block, a holder, a high-definition camera, an upper bearing, a lower bearing and a holder mounting plate, the servo motor is located in the trolley, the box body is located outside the trolley, and the servo motor is connected with the lower part of the box body; a motor part of the electric screw rod is positioned in the trolley, a screw rod part is positioned in the box body and is connected with the box body through upper and lower bearings, the sliding rail is fixed in the box body, the sliding block is screwed on the electric screw rod, one side of the sliding block is in contact with the sliding rail, the other side of the sliding block is connected with the holder mounting plate, the holder is connected with the holder mounting plate, and the high-definition camera is fixed on the holder; the main control computer is located in the trolley, and image processing software is arranged in the main control computer. According to the invention, all-around information collection can be carried out on obstacles in the fire fighting access even under severe weather conditions, and the accuracy and efficiency of fire fighting access management are greatly improved.

Description

Technical Field

[0001] The present invention belongs to the field of fire passage detection, and in particular relates to a mobile camera device, system and method for fire passage occupancy detection. Background Art

[0002] In modern urban life, fire safety is particularly important in residential areas and campuses as densely populated places. However, due to the increase in vehicles, weak fire awareness among students and residents, and inadequate management, fire passages are often occupied, which not only violates relevant laws and regulations, but also hinders the timely arrival of fire rescue in emergency situations such as fires, exacerbates the spread of fire, and seriously threatens public life and property safety. Therefore, in campuses or communities, security personnel are usually responsible for patrolling to see if there are any illegal occupation of fire passages, but there may be omissions during the patrol process, so most identification systems based on fixed monitoring devices have appeared to facilitate subsequent processing.

[0003] The disadvantages of traditional surveillance cameras in existing recognition systems are: 1. Since the angle and height of the installation cannot be adjusted, it may not be able to accurately identify the license plate number or only obtain partial information of the license plate; 2. In the case of extremely bad weather affecting the clarity, it may not be able to accurately identify the license plate number or only obtain partial information of the license plate; therefore, the accuracy of fire channel management is greatly reduced. At the same time, if manual further confirmation of the license plate number is required, the efficiency of fire channel management is greatly reduced. Summary of the invention

[0004] The problem to be solved by the present invention is to provide a mobile camera device for fire passage occupancy detection, which can collect all-round information on obstacles in the fire passage even in bad weather conditions, greatly improving the accuracy and efficiency of fire passage management. At the same time, the present invention also provides a detection system, which can monitor the fire passage 24 hours a day to ensure the barrier-free state of the fire passage, so that when a fire occurs, the fire truck can arrive at the scene for rescue in the first time, protecting the lives and property of the people.

[0005] The present invention discloses a mobile photographing device for detecting occupancy of a fire passage, which comprises a trolley, an image acquisition component and a main control computer; the image acquisition component comprises a servo motor, a box body, a slide rail, an electric lead screw, a slider, a pan-tilt, a high-definition camera, upper and lower bearings and a pan-tilt mounting plate: the servo motor is located in the trolley, the box body is located outside the trolley, and the servo motor is connected to the lower part of the box body; the motor part of the electric lead screw is located in the trolley, the lead screw part is located in the box body and is connected to the box body through upper and lower bearings, the slide rail is fixed in the box body, the slider is screwed on the electric lead screw, one side is in contact with the slide rail, and the other side is connected to the pan-tilt mounting plate, the pan-tilt is connected to the pan-tilt mounting plate, and the high-definition camera is fixed on the pan-tilt; the main control computer is located in the trolley, and has built-in image processing software.

[0006] Furthermore, the car includes an autonomous mobile component consisting of a body, a main power supply, an autonomous mobile control module and an adaptive switching high-precision positioning module; the autonomous mobile control module includes four drive motors, four drive wheels, and a motion control chip; the adaptive switching high-precision positioning module includes an inertial navigation module, a laser radar, a binocular camera, a GPS base station, and two GPS antennas; the main power supply is set in the body, the four drive motors are respectively connected to the four drive wheels, the motion control chip is located in the body, the inertial navigation module, the laser radar, and the GPS base station are all installed on the upper part of the body, the binocular camera is installed on the front part of the body, and the two GPS antennas are installed at the diagonal ends of the upper part of the body.

[0007] Furthermore, the adaptive switching high-precision positioning module autonomously switches between two positioning modes according to the strength of the GPS signal: 1. When the GPS signal is lost or weak, the autonomous navigation and autonomous obstacle avoidance mode based on the laser radar and binocular camera: 1. The laser radar and binocular camera scan the surrounding environment to generate three-dimensional cloud point map data; 2. The data obtained from the two sets of sensors are converted into weighted fusion after coordinate conversion; 3. The fused data is used to detect obstacles and build an environmental map to avoid obstacles during autonomous movement; 2. When in a wide and unobstructed area and the GPS signal is strong, the inertial navigation mode is used. The system mainly uses the GPS positioning module and the laser radar and binocular camera to realize high-precision positioning, and is supplemented by the laser radar and binocular camera to complete obstacle detection and map construction: 1. The dual-antenna GPS receiver receives the positions of the two antennas, and the main control computer solves the position; combined with the mobile station to receive the base station RTK differential source information, it is used to correct the GPS positioning result to achieve centimeter-level error; 2. The main control computer processes the GPS positioning information and the navigation information provided by the inertial navigation system, and integrates the two information to obtain more accurate positioning; 3. At the same time, obstacles in the autonomous movement process are avoided through the data fusion of the laser radar and binocular vision sensor.

[0008] The present invention discloses a system for detecting the occupation of a fire passage, which comprises a monitoring camera, a mobile camera device, a remote monitoring subsystem, a control center, and a wireless transceiver subsystem; the monitoring camera located near the fire passage detects that the fire passage is occupied by an obstacle, and sends an occupation alarm signal to the control center through the wireless transceiver subsystem; the control center responds after receiving the alarm signal, and sends an inspection instruction to the mobile camera device through the wireless transceiver subsystem; the mobile camera device moves to the vicinity of the fire passage through an autonomous mobile component, collects obstacles using an image acquisition component, and accurately identifies and reports detailed information such as the type and position of the obstacle through image processing software, and returns the information to the control center through the wireless transceiver subsystem; the control center compares the real-time monitoring situation and the identification report in combination with an existing license plate number database, and sends information of different contents to related objects through the wireless transceiver subsystem according to the comparison result; the remote monitoring subsystem remotely controls the mobile camera device through the control center.

[0009] Furthermore, the functions of the remote monitoring subsystem are: Ⅰ. Real-time monitoring of the entire process of the mobile camera device moving to the fire passage, recording the surrounding environment in the fire passage, and identifying obstacles; Ⅱ. When encountering abnormal situations such as technical failures and sensor failures during the inspection process, monitoring the mobile camera device to return path-finding failures or vehicle failure warnings to the control center, so that the staff at the control center can remotely control the mobile camera device to troubleshoot, restart or perform other necessary maintenance operations: If the mobile camera device fails to find the path, the control center remotely controls the mobile camera device to the target point of the fire passage; if it is due to a technical failure, the control center remotely recalls the mobile camera device.

[0010] The present invention provides a method for detecting fire passage occupancy, which comprises the following steps:

[0011] ① The surveillance camera detects an unknown obstacle in the fire passage, and the control center sends an inspection command to the mobile camera device;

[0012] ② The mobile camera device autonomously navigates to the vicinity of the fire escape;

[0013] ③ The mobile camera device uses binocular vision modules and laser radar to identify and detect fire passage lines and obstacles (vehicles) in the fire passage lines, and uses the main control computer and image acquisition components to collect and process images around the obstacles to perform license plate number recognition and detection;

[0014] ④ If the license plate number cannot be detected, the control center will issue a work order to notify the security personnel to manually move the obstacle; if the license plate number is detected, the identified license plate number will be uploaded to the control center and compared with the license plate number database to obtain the result.

[0015] ⑤ If the data matches successfully, if it is an ambulance, fire truck or police car, it will be included in the whitelist. Otherwise, the control center will notify the owner to move it by pushing it on the official account, text message, phone call, etc.

[0016] ⑥ After the mobile device finishes working, it returns to the charging station, and the surveillance camera determines whether there is an obstacle after a period of time.

[0017] ⑦ If the obstacle still exists after a period of time and does not move, the control center will issue a work order to notify the security personnel to move it.

[0018] ⑧If the data matching fails, the control center will issue a work order to notify the security personnel to move the vehicle. While waiting for the owner to pick up the vehicle, the license plate number database will be automatically updated.

[0019] Furthermore, the specific process of step ③ is as follows: Ⅰ. The mobile camera device receives the inspection command from the control center; Ⅱ. Adjust its initial posture, synchronize the time of each sensor, and calibrate the external parameters; Ⅲ. Receive the information of the adaptive switching high-precision positioning module and the fire passage position information transmitted by the control center; Ⅳ. Plan the path trajectory from the starting position to the fire passage position; Ⅴ. Then control the mobile car through the autonomous mobile control module to complete the corresponding actions to realize the movement of the mobile car.

[0020] Furthermore, the specific process of image acquisition and processing in step ③ is as follows: Ⅰ. The main control computer adaptively adjusts the exposure time and focal length of the camera according to the ambient light and target brightness to ensure the quality of the captured image; Ⅱ. The high-definition camera performs image acquisition, uses the color model to roughly locate the license plate number, and combines the fixed size ratio and spatial position relationship of the license plate to finely locate the license plate area; Ⅲ. If the image lacks information, the main control computer controls the camera to rotate 360 ​​degrees or move up and down through the servo motor and electric screw to adapt to license plates at different angles and heights for image acquisition; Ⅳ. The image acquisition software performs perspective transformation or affine transformation on the located license plate image to correct the tilt or deformation of the license plate; in the corrected license plate image, the license plate characters are segmented according to the spacing and size between the license plate characters, and then the characters are further recognized; Ⅴ. The recognized license plate number is sent to the control center for comparison.

[0021] The advantages of the present invention are: 1. The mobile device for fire passage occupancy detection can autonomously navigate to the fire passage according to actual needs, and can collect all-round information about obstacles in the fire passage even under severe weather conditions, mainly the license plate number, and transmit it, so as to facilitate the subsequent removal of obstacles, thereby improving the accuracy and efficiency of fire passage management; 2. The system for fire passage occupancy detection can monitor the fire passage uninterruptedly for 24 hours. If there is an obstacle, it can autonomously navigate to the vicinity of the obstacle through a mobile camera device, combine image recognition and data processing technology, and send relevant information to the control center through wireless communication technology to achieve remote monitoring and timely processing, thereby ensuring the smooth flow and safety of the fire passage. In this way, if a fire occurs, the fire truck can arrive at the scene for rescue as soon as possible, minimize the loss, and protect people's lives and property. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 The mobile camera device of the present invention is a three-dimensional Figure 1 .

[0023] Figure 2 The mobile camera device of the present invention is a three-dimensional Figure 2 (Remove the image acquisition component).

[0024] Figure 3 It is a stereogram of the image acquisition component.

[0025] Figure 4 It is a flow chart of the autonomous movement of the car.

[0026] Figure 5 It is a functional diagram of the car's autonomous movement.

[0027] Figure 6 It is a flowchart of image acquisition and processing.

[0028] Figure 7 It is a schematic diagram of the system of the present invention.

[0029] Figure 8 It is a detection flow chart of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0031] Example 1

[0032] from Figure 1 , Figure 2 , Figure 3It can be seen that the present invention is a mobile photographing device for fire passage occupancy detection, which includes a trolley, an image acquisition component, and a main control computer 8; the image acquisition component includes a servo motor 2, a box body 12, a slide rail 13, an electric screw rod 14, a slider 15, a pan-tilt head 16, a high-definition camera 17, upper and lower bearings 18, and a pan-tilt head mounting plate 19: the servo motor 2 is located in the trolley, the box body 12 is located outside the trolley, and the servo motor 2 is connected to the lower part of the box body 12; the motor part of the electric screw rod 14 is located in the trolley, the screw rod part is located in the box body 12 and is connected to the box body 12 through the upper and lower bearings 18, the slide rail 13 is fixed in the box body 12, the slider 15 is screwed on the electric screw rod 14, one side is in contact with the slide rail 13, and the other side is connected to the pan-tilt head mounting plate 19, the pan-tilt head 16 is connected to the pan-tilt head mounting plate 19, and the high-definition camera 17 is fixed on the pan-tilt head 16; the main control computer 8 is located in the trolley, and it has built-in image processing software.

[0033] Among them: the working principle of the image acquisition component is: the servo motor accurately controls the rotation of the box body, thereby driving the high-definition camera to achieve a full 360-degree rotation; the electric screw drives the slider to rise or fall along the slide rail through positive and negative rotation, and simultaneously drives the vertical up and down movement of the pan / tilt and high-definition camera; in this way, in the process of collecting images, according to the different orientations and heights of the license plate, the high-definition camera adjusts the position and posture through the coordinated action of rotation and up and down movement, realizes the precise positioning and high-definition shooting of the vehicle license plate number, and greatly improves the accuracy and efficiency of license plate recognition. Among them: the image processing software processes the license plate number data collected by the high-definition camera and transmits it for subsequent processing.

[0034] The advantages of the mobile camera device of the present invention are: when the vehicle comes near the obstacle of the fire passage and the high-definition camera can rotate and move with the pan / tilt, it can obtain comprehensive information of the obstacle, ensure the clarity of image acquisition and the accuracy of the final result, and overcome the situation that the existing monitoring device can only obtain partial information of the license plate and poor clarity due to the inability to adjust the installation angle and height and the influence of bad weather. When the monitoring camera cannot accurately confirm the information of the obstacle occupying the road, the mobile camera device of the present invention receives the inspection command from the control center and cruises, and of course, it can also cruise autonomously.

[0035] Example 2

[0036] from Figure 1 , Figure 2 , Figure 3It can be seen that the mobile photographing device of the present invention: the car includes an autonomous mobile component consisting of a body 1, a main power supply 4, an autonomous mobile control module and an adaptive switching high-precision positioning module; the autonomous mobile control module includes four drive motors 9, four drive wheels 11, and a motion control chip 20; the adaptive switching high-precision positioning module includes an inertial navigation module 5, a laser radar 6, a binocular camera 7, a GPS base station 10, and two GPS antennas 21; the main power supply 4 is arranged in the body 1, the four drive motors 9 are respectively connected to the four drive wheels 11, the motion control chip 20 is located in the body 1, the inertial navigation module 5, the laser radar 6, and the GPS base station 10 are all installed on the upper part of the body 1, the binocular camera 7 is installed on the front part of the body 1, and the two GPS antennas 21 are installed at the diagonal ends of the upper part of the body 1.

[0037] Among them: the four-wheel drive mode has significant advantages in obstacle avoidance and emergency braking, and has stronger passability in complex road conditions; the autonomous mobile control module adopts a centralized control architecture, which can reduce coupling conditions and improve operational stability and operability.

[0038] The car in the mobile photography device of the present invention comes to the vicinity of the obstacle in the fire passage through the autonomous mobile component: the high-precision positioning module is adaptively switched to perform path planning and path tracking, so that the mobile car can perform autonomous navigation in various scenarios; the autonomous mobile control module receives parameter inputs such as speed, acceleration, steering angle, etc. from various sensors, so that the motor, brake, etc. complete the movement of the car through control instructions.

[0039] Example 3

[0040] from Figure 4 , Figure 5It can be seen that the mobile camera device of the present invention: the adaptive switching high-precision positioning module autonomously switches between two positioning modes according to the strength of the GPS signal: 1. When the GPS signal is lost or weak, the autonomous navigation and autonomous obstacle avoidance mode based on the laser radar and binocular camera: 1. The laser radar and binocular camera scan the surrounding environment to generate three-dimensional cloud point map data; 2. The data obtained from the two sets of sensors are converted into coordinates and then weighted fused; 3. The fused data is used to detect obstacles and construct an environmental map to achieve the effect of avoiding obstacles during autonomous movement; 2. When in a wide and unobstructed area and the GPS signal is strong, High-precision positioning is achieved mainly with inertial navigation module and GPS positioning module, supplemented by laser radar and binocular camera to complete obstacle detection and map construction: 1. The dual-antenna GPS receiver receives the positions of the two antennas, and the main control computer solves the position; combined with the mobile station to receive the base station RTK differential source information, it is used to correct the GPS positioning result to achieve centimeter-level error; 2. The main control computer processes the GPS positioning information and the navigation information provided by the inertial navigation system, and integrates the two information to obtain more accurate positioning; 3. At the same time, obstacles are avoided during autonomous movement through data fusion of laser radar and binocular vision sensor.

[0041] The mobile camera device of the present invention improves the positioning accuracy of the mobile device by adaptively switching the high-precision positioning module, and realizes autonomous movement in complex road conditions. During the transition between the two positioning modes, the algorithm needs to be able to handle the fusion of different sensor data to ensure the continuity and accuracy of positioning.

[0042] At the same time, after the mobile camera device of the present invention moves into the fire passage line, it identifies and detects the fire passage line and obstacles in the fire passage line through the binocular vision module and the laser radar, so that the mobile device travels around the vehicle to provide a suitable position for image acquisition, and then uses the main control computer and the image acquisition component to collect and process images around the obstacle to perform license plate number recognition and detection work.

[0043] Example 4

[0044] from Figure 7It can be seen that the present invention provides a system for detecting fire passage occupancy, which includes a monitoring camera, a mobile camera device, a remote monitoring subsystem, a control center, and a wireless transceiver subsystem; the monitoring camera located near the fire passage detects that the fire passage is occupied by an obstacle, and sends an occupancy alarm signal to the control center through the wireless transceiver subsystem; the control center responds after receiving the alarm signal, and sends an inspection instruction to the mobile camera device through the wireless transceiver subsystem; the mobile camera device moves to the vicinity of the fire passage through an autonomous mobile component, uses an image acquisition component to collect obstacles, and uses image processing software to accurately identify and report detailed information such as the type and location of the obstacle, and then returns it to the control center through the wireless transceiver subsystem; the control center compares the real-time monitoring situation and the identification report in combination with the existing license plate number database, and sends information of different contents to related objects through the wireless transceiver subsystem according to the comparison result; the remote monitoring subsystem remotely controls the mobile camera device through the control center.

[0045] The function and advantage of the detection system of the present invention are as follows: after the control center receives the information that the fire passage is occupied by an obstacle, the mobile camera device automatically moves to the vicinity of the obstacle and takes pictures with a high-definition camera. After image preprocessing, license plate positioning, character segmentation and recognition, the license plate number is determined and then returned to the control center for the next step of processing.

[0046] Example 5

[0047] The detection system of the present invention: the functions of the remote monitoring subsystem are: Ⅰ, real-time monitoring of the entire process of the mobile camera device moving to the fire passage, recording the surrounding environment in the fire passage and identifying obstacles; Ⅱ, when encountering abnormal situations such as technical failures and sensor failures during the inspection process, monitoring the mobile camera device to return a path-finding failure or a vehicle failure warning to the control center, so that the staff at the control center can remotely control the mobile camera device to troubleshoot, restart or perform other necessary maintenance operations: if the mobile camera device fails to find the path, the control center remotely controls the mobile camera device to the target point of the fire passage; if it is due to a technical failure, the control center remotely controls the mobile camera device to recall it.

[0048] The remote monitoring subsystem monitors the motion and working status of the mobile camera device in real time and provides remote control support in emergency situations. Therefore, remote control, as a supplement to autonomous navigation, assists in completing complex and changeable navigation tasks, and can further ensure that the mobile camera device can complete inspection tasks safely and effectively.

[0049] Example 6

[0050] from Figure 8 It can be seen that a method for detecting fire passage occupancy includes the following steps:

[0051] ① The surveillance camera detects an unknown obstacle in the fire passage, and the control center sends an inspection command to the mobile camera device;

[0052] ② The mobile camera device autonomously navigates to the vicinity of the fire escape;

[0053] ③ The mobile camera device uses binocular cameras and laser radars to identify and detect fire passage lines and obstacles (vehicles) in the fire passage lines, and uses the main control computer and image acquisition components to collect and process images around the obstacles to perform license plate number recognition and detection;

[0054] ④ If the license plate number cannot be detected, the control center will issue a work order to notify the security personnel to manually move the obstacle; if the license plate number is detected, the identified license plate number will be uploaded to the control center and compared with the license plate number database to obtain the result.

[0055] ⑤ If the data matches successfully, if it is an ambulance, fire truck or police car, it will be included in the whitelist. Otherwise, the control center will notify the owner to move it by pushing it on the official account, text message, phone call, etc.

[0056] ⑥ After the mobile device finishes working, it returns to the charging station, and the surveillance camera determines whether there is an obstacle after a period of time.

[0057] ⑦ If the obstacle still exists after a period of time and does not move, the control center will issue a work order to notify the security personnel to move it.

[0058] ⑧If the data matching fails, the control center will issue a work order to notify the security personnel to move the vehicle. While waiting for the owner to pick up the vehicle, the license plate number database will be automatically updated.

[0059] Among them, in step ③: the mobile camera device moves around the vehicle to provide a suitable position for the image acquisition and processing system.

[0060] Example 7

[0061] from Figure 4 It can be seen that the present invention provides a method for detecting fire passage occupancy: the specific process of step ② is: Ⅰ, the mobile camera device receives the inspection command from the control center; Ⅱ, adjusts its initial posture, synchronizes the time of each sensor, and calibrates the external parameters; Ⅲ, receives the information of the adaptive switching high-precision positioning module and the fire passage position information transmitted by the control center; Ⅳ, plans the path trajectory from the starting position to the fire passage position; Ⅴ, and then controls the mobile car through the autonomous mobile control module to complete the corresponding action to realize the movement of the mobile car.

[0062] Example 8

[0063] from Figure 6It can be seen that the present invention provides a method for fire passage occupancy detection: the specific process of image acquisition and processing in step ③ is: Ⅰ, the main control computer adaptively adjusts the exposure time and focal length of the camera according to the ambient light and target brightness to ensure the quality of the captured image; Ⅱ, the high-definition camera performs image acquisition, uses the color model to roughly locate the license plate number, and combines the fixed size ratio and spatial position relationship of the license plate to finely locate the license plate area; Ⅲ, if the image lacks information, the main control computer controls the camera to rotate 360 ​​degrees or move up and down through the servo motor and the electric screw rod to adapt to the license plates at different angles and heights for shooting and image acquisition; Ⅳ, the image acquisition software performs perspective transformation or affine transformation on the located license plate image to correct the tilt or deformation of the license plate; in the corrected license plate image, the license plate characters are segmented according to the interval and size between the license plate characters, and then the characters are further recognized; Ⅴ, the recognized license plate number is sent to the control center for comparison.

[0064] As can be seen from the above, regardless of bad weather or the different heights of the license plate, the mobile camera can obtain the complete situation of the license plate, and can ensure the clarity of image acquisition and the accuracy of the final result, so as to upload the information to the control center and achieve accurate matching with the license plate number database.

[0065] The advantages of the present invention are: 1. The mobile device for fire passage occupancy detection can autonomously navigate to the fire passage according to actual needs, and can collect all-round information on obstacles in the fire passage even under severe weather conditions, mainly the license plate number, and transmit it to facilitate the subsequent removal of obstacles, thereby improving the accuracy and efficiency of fire passage management: 1. According to the position of the license plate, the high-definition camera is adaptively adjusted by rotation and movement to obtain comprehensive information on obstacles to detect the complete license plate number; 2. The high-precision positioning module is adaptively switched to perform path planning and path tracking; the autonomous mobile control module controls to complete the corresponding actions, so that it can autonomously navigate to the fire passage; 3. The high-precision positioning module is adaptively switched to autonomously switch between two positioning modes according to the strength of the GPS signal to adapt to different situations; 2. The detection system for fire passage occupancy detection is combined with the detection method to achieve Processing from problem discovery to problem solving: 1. The surveillance camera detects that the fire passage is occupied by an obstacle and sends an occupancy alarm signal to the control center through the wireless transceiver subsystem; the control center then sends an inspection instruction to the mobile camera through the wireless transceiver subsystem; the mobile camera autonomously navigates to the vicinity of the fire passage, collects obstacles through the image acquisition device, and accurately identifies and reports the type, location and other detailed information of the obstacle through the image processing subsystem, and returns it to the control center through the wireless transceiver subsystem; the control center compares the real-time monitoring situation and identification report with the existing license plate number database, and sends different content information to related objects through the wireless transceiver subsystem based on the comparison results; 2. The control center and the main control computer of the mobile camera realize data exchange based on the wireless communication module. The control center can monitor the operating status of the mobile device in real time and remotely control it in an emergency.

[0066] In short, the mobile system of the present invention can monitor the fire passage 24 hours a day. If there is an obstacle, it can autonomously navigate to the vicinity of the obstacle through a mobile camera device, combine image recognition and data processing technology, and send relevant information to the control center through wireless communication technology to achieve remote monitoring and timely processing, thereby ensuring the smooth flow and safety of the fire passage. In this way, if a fire occurs, the fire truck can arrive at the scene for rescue as soon as possible, minimize the loss, and protect people's lives and property.

Claims

1. A mobile camera device for fire passage occupancy detection, characterized by: It includes a trolley, an image acquisition component, and a main control computer (8); the image acquisition component includes a servo motor (2), a box body (12), a slide rail (13), an electric screw rod (14), a slider (15), a pan / tilt head (16), a high-definition camera (17), upper and lower bearings (18), and a pan / tilt head mounting plate (19): the servo motor (2) is located inside the trolley, the box body (12) is located outside the trolley, and the servo motor (2) is connected to the lower part of the box body (12); the motor part of the electric screw rod (14) is located The screw rod part is located in the box body (12) and connected to the box body (12) through upper and lower bearings (18); the slide rail (13) is fixed in the box body (12); the slider (15) is screwed on the electric screw rod (14), one side of which is in contact with the slide rail (13) and the other side is connected to the pan-tilt mounting plate (19); the pan-tilt (16) is connected to the pan-tilt mounting plate (19); and the high-definition camera (17) is fixed on the pan-tilt (16); the main control computer (8) is located in the trolley and has built-in image processing software.

2. The mobile photographing device according to claim 1, characterized in that: The vehicle comprises an autonomous mobile component consisting of a vehicle body (1), a main power supply (4), an autonomous mobile control module and an adaptive switching high-precision positioning module; the autonomous mobile control module comprises four drive motors (9), four drive wheels (11) and a motion control chip (20); the adaptive switching high-precision positioning module comprises an inertial navigation module (5), a laser radar (6), a binocular camera (7), a GPS base station (10) and two GPS antennas (21); the main power supply (4) is arranged in the vehicle body (1), the four drive motors (9) are respectively connected to the four drive wheels (11), the motion control chip (20) is located in the vehicle body (1), the inertial navigation module (5), the laser radar (6) and the GPS base station (10) are all installed on the upper part of the vehicle body (1), the binocular camera (7) is installed on the front part of the vehicle body (1), and the two GPS antennas (21) are installed at the diagonally opposite ends of the upper part of the vehicle body (1).

3. The mobile photographing device according to claim 2, characterized in that: Adaptive switching The high-precision positioning module autonomously switches between two positioning modes according to the strength of the GPS signal:

1. When the GPS signal is lost or weak, the autonomous navigation and autonomous obstacle avoidance mode based on the laser radar and binocular camera:

1. The laser radar and binocular camera scan the surrounding environment to generate three-dimensional cloud point map data; 2. The coordinates of the data obtained from the two sets of sensors are transformed and then weightedly fused; 3. The fused data is used to detect obstacles and build an environmental map to avoid obstacles during autonomous movement; 2. When in a wide, unobstructed area and with a strong GPS signal, high-precision positioning is achieved mainly with the inertial navigation module and GPS positioning module, supplemented by laser radar and binocular camera to complete obstacle detection and map construction:

1. The dual-antenna GPS receiver receives the positions of the two antennas, and the main control computer solves the position; combined with the mobile station receiving the base station RTK differential source information, it is used to correct the GPS positioning results to achieve centimeter-level errors; 2. The main control computer processes the GPS positioning information and the navigation information provided by the inertial navigation system, and fuses the two information to obtain a more accurate positioning; 3. At the same time, obstacles in the autonomous movement process are avoided through the data fusion of the laser radar and binocular vision sensor.

4. A system for fire passage occupancy detection, characterized in that: It includes a surveillance camera, a mobile camera device, a remote monitoring subsystem, a control center, and a wireless transceiver subsystem. The surveillance camera located near the fire passage detects that the fire passage is occupied by an obstacle, and sends an occupancy alarm signal to the control center through the wireless transceiver subsystem. After receiving the alarm signal, the control center responds and sends an inspection instruction to the mobile camera device through the wireless transceiver subsystem. The mobile camera moves to the vicinity of the fire passage through the autonomous mobile component, collects obstacles using the image acquisition component, and accurately identifies and reports the type, location and other detailed information of the obstacles through the image processing software, and then returns them to the control center through the wireless transceiver subsystem; the control center compares the real-time monitoring situation and the identification report with the existing license plate number database, and according to the comparison results, sends information of different contents to related objects through the wireless transceiver subsystem; the remote monitoring subsystem remotely controls the mobile camera through the control center.

5. The system according to claim 4, characterized in that: remote The functions of the monitoring subsystem are: Ⅰ. Real-time monitoring of the entire process of the mobile camera moving to the fire passage, recording the surrounding environment in the fire passage, and identifying obstacles; Ⅱ. When encountering abnormal situations such as technical failure, sensor failure, etc. during the inspection process, the monitoring mobile camera device will return the failure to find the path or the vehicle failure warning to the control center, so that the staff at the control center can remotely control the mobile camera device to troubleshoot, restart or perform other necessary maintenance operations: If the mobile camera device fails to find the path, the control center will remotely control the mobile camera device to the target point of the fire passage; if it is due to technical failure, the control center will remotely recall the mobile camera device.

6. A method for detecting fire passage occupancy, comprising the following steps: ① The surveillance camera detects an unknown obstacle in the fire passage, and the control center sends an inspection command to the mobile camera device; ② The mobile camera device autonomously navigates to the vicinity of the fire escape; ③ The mobile camera device uses binocular vision modules and laser radar to identify and detect fire passage lines and obstacles (vehicles) in the fire passage lines, and uses the main control computer and image acquisition components to collect and process images around the obstacles to perform license plate number recognition and detection; ④ If the license plate number cannot be detected, the control center will issue a work order to notify the security personnel to manually move the obstacle; If a license plate number is detected, the identified license plate number will be uploaded to the control center and compared with the license plate number database to obtain the result. ⑤ If the data matches successfully, if it is an ambulance, fire truck or police car, it will be included in the whitelist. Otherwise, the control center will notify the owner to move it by pushing it on the official account, text message, phone call, etc. ⑥ After the mobile device finishes working, it returns to the charging station, and the surveillance camera determines whether there is an obstacle after a period of time. ⑦ If the obstacle still exists after a period of time and does not move, the control center will issue a work order to notify the security personnel to move it. ⑧If the data matching fails, the control center will issue a work order to notify the security personnel to move the vehicle. While waiting for the owner to pick up the vehicle, the license plate number database will be automatically updated.

7. The method according to claim 6, characterized in that: The specific process of step ③ is as follows: Ⅰ. The mobile camera receives the inspection instruction from the control center; Ⅱ. Adjust its initial posture, synchronize the time of each sensor, and calibrate the external parameters; Ⅲ. Receive the information of the adaptive switching high-precision positioning module and the fire passage location information transmitted by the control center; Ⅳ. Plan the path trajectory from the starting position to the fire passage position; Ⅴ. Then control the mobile car to complete the corresponding actions through the autonomous mobile control module to realize the movement of the mobile car.

8. The method according to claim 6, characterized in that: The specific process of image acquisition and processing in step ③ is as follows: Ⅰ. The main control computer adaptively adjusts the exposure time and focal length of the camera according to the ambient light and target brightness to ensure the quality of the captured image; Ⅱ. The high-definition camera collects images and uses the color model to roughly locate the license plate number. Combined with the fixed size ratio and spatial position relationship of the license plate, the license plate area is finely located; Ⅲ. If the image lacks information, the main control computer controls the camera to rotate 360 ​​degrees or move up and down through the servo motor and electric screw to adapt to license plates at different angles and heights for image acquisition; Ⅳ. The image acquisition software performs perspective transformation or affine transformation on the located license plate image to correct the tilt or deformation of the license plate; in the corrected license plate image, the license plate characters are segmented according to the interval and size between the license plate characters, and then the characters are further recognized; Ⅴ. The recognized license plate number is sent to the control center for comparison.

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