Artificial remote control adaptive multi-sensor fusion high-risk area positioning method and robot

Abstract

This invention discloses a multi-sensor fusion method and robot for high-risk area localization with manual remote control adaptation. The method includes: controlling the robot to sample real-time sensor data from various areas at fixed intervals; preprocessing the real-time sensor data to obtain processed data; calculating heat source indication and high-risk gas indication based on the processed data; marking the robot's current sampling area as a suspected heat source point when the heat source indication exceeds a heat source determination threshold; marking the robot's current sampling area as a high-risk gas point when the high-risk gas indication exceeds a gas hazard determination threshold; and determining that the suspected heat source point and the high-risk gas point are the same hazard source when the distance between them is less than or equal to a preset radius. This invention improves the robot's positioning accuracy in high-risk blind areas, reduces the occupational risk exposure of remote operators in extreme environments, and has lower requirements for the computing power of the main control chip.

Description

Technical Field

[0001] This invention belongs to the field of fire protection and safety detection technology, specifically relating to a multi-sensor fusion high-risk area positioning method and robot with manual remote control adaptation. Background Technology

[0002] With the popularization of mobile robots and firefighting equipment technology, using robots to replace manual labor in reconnaissance and firefighting tasks at high-risk fire sites has become a trend, effectively reducing the safety risks for frontline firefighters. Most existing firefighting robots use tracked or wheeled chassis and are mainly equipped with visible light cameras or single infrared thermal imagers. They are suitable for environments with flat ground and regular structures, and their motion control and remote operation technologies are relatively mature.

[0003] However, the development of perception and guidance technologies for firefighting robots has been relatively slow in complex fire environments, such as basements, subway stations, tunnels, underground shopping malls, coal bunkers, and open-air coal yards. On the one hand, fire scenes are characterized by dense smoke, limited visible light, uneven temperature distribution, and the influence of obstruction and reflection. Relying solely on a single thermal imaging image or point temperature sensor makes it difficult to determine the location of the fire source and the direction of fire spread in a timely and accurate manner. On the other hand, toxic and harmful gases such as CO and combustible gases easily accumulate in the environment. Existing solutions often only have simple video feedback or single gas over-limit alarm functions, lacking comprehensive analysis capabilities. Summary of the Invention

[0004] To address the aforementioned problems in the existing technology, this invention provides a multi-sensor fusion high-risk area positioning method and robot with manual remote control adaptation.

[0005] The technical problem to be solved by this invention is achieved through the following technical solution: In a first aspect, the present invention provides a multi-sensor fusion method for locating high-risk areas using manual remote control adaptation, the method comprising: The robot is controlled to sample real-time sensor data from various areas at fixed intervals; wherein, the real-time sensor data includes infrared thermal imaging data, ambient temperature, heating rate, smoke concentration, smoke concentration rising rate, duration of smoke concentration exceeding a preset threshold, gas concentration, oxygen decrease rate, travel distance increment, and steering angle data. The real-time sensor data is preprocessed to obtain processed data; Calculate the heat source indication and the hazardous gas indication based on the processed data; When the heat source indication value is greater than the heat source determination threshold, the current sampling area of ​​the robot is marked as a suspected heat source point; When the indicated amount of high-risk gas is greater than the gas hazard determination threshold, the robot's current sampling area is marked as a high-risk gas point; If the distance between a suspected heat source and a high-risk gas point is less than or equal to a preset radius, then the suspected heat source and the high-risk gas point are determined to be the same hazard source.

[0006] Optionally, the processed data includes the highest temperature, temperature gradient, heating trend, instantaneous carbon concentration, O2 decrease rate, and duration.

[0007] Optionally, the calculation process for the heat source indication is as follows: ; in, This indicates the heat source indication quantity. Indicates the highest temperature The weight, Representing temperature gradient The weight, Indicating a warming trend The weight, This represents the normalization function.

[0008] Optionally, the calculation process for the indicated amount of the hazardous gas is as follows: ; in, This indicates the indicated quantity of the hazardous gas. Represents carbon element The weight of instantaneous concentration, Indicates the degree of O2 decrease The weight, Indicates duration The weight.

[0009] Optionally, the driving distance increment and the steering angle data are used to record the relative positions of suspected heat sources and high-risk gas points.

[0010] Optionally, after determining that the suspected heat source and the high-risk gas point are the same hazard source when the distance between them is less than or equal to a preset radius, the method further includes: If the distance between a suspected heat source and a high-risk gas point is greater than a preset radius, the high-risk gas point is determined to be a smoldering ignition source or a gas drift accumulation area. If there are hazardous sources in the sampling areas corresponding to multiple consecutive fixed periods, then the sampling areas corresponding to multiple consecutive fixed periods are aggregated into a hazardous interval.

[0011] Secondly, the present invention provides a robot, characterized in that it includes: a smoke sensor 1, a gas sensor 2, an ambient temperature sensor 3, and a processing and analysis module 4 mounted on a detection component mounting position or a rotating gimbal 5 on the upper part of the robot, wherein the processing and analysis module 4 is used to execute the multi-sensor fusion high-risk area positioning method of manual remote control adaptation as described in claims 1-7; a visible light infrared thermal imaging camera 7 mounted at the center of the rotating gimbal 5; and a searchlight 8 mounted at the front end of the robot's walking chassis 6.

[0012] Thirdly, the present invention provides a multi-sensor fusion high-risk area positioning device with manual remote control adaptation, the device comprising: The data sampling module is used to control the robot to sample real-time sensor data of each area at fixed intervals; wherein, the real-time sensor data includes infrared thermal imaging data, ambient temperature, heating rate, smoke concentration, smoke concentration rising rate, duration of smoke concentration exceeding a preset threshold, gas concentration, oxygen decrease rate, travel distance increment and turning angle data. The data processing module is used to preprocess the real-time sensor data to obtain processed data; The calculation module is used to calculate the heat source indication and the hazardous gas indication based on the processed data; The first marking module is used to mark the current sampling area of ​​the robot as a suspected heat source point when the heat source indication value is greater than the heat source determination threshold. The second marking module is used to mark the robot's current sampling area as a high-risk gas point when the high-risk gas indication is greater than the gas hazard determination threshold. The judgment module is used to determine that the suspected heat source and the high-risk gas point are the same hazard source when the distance between them is less than or equal to a preset radius.

[0013] The technical solutions provided by the embodiments of the present invention may include the following beneficial effects: In the above technical solution, the present invention, through a standardized multi-source data fusion architecture design, is compatible with existing fire-fighting robot operation modes. Addressing the visual feature loss problem caused by extreme environments such as high-risk, dense smoke, and high temperatures, it utilizes multiple real-time sensor data to overcome the perception limitations of a single sensor. By using heat source indication and high-risk gas indication to assist in positioning, it significantly improves the robot's coordinate calibration accuracy in high-risk blind areas. It can quickly locate the fire source centroid and autonomously avoid obstacles, effectively shortening the robot's single-operation dwell time in dangerous areas, thereby greatly reducing the occupational risk exposure of remote operators in extreme environments. It has low requirements for the computing power of the main control chip and can achieve stable operation on low-cost embedded microcontrollers or MCUs, eliminating the need for expensive graphics processing servers.

[0014] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0015] Figure 1 This invention provides a method for locating high-risk areas using a multi-sensor fusion system with manual remote control adaptation. Figure 2 This is a schematic diagram of the structure of a robot provided in an embodiment of the present invention; Figure 3 This is a front view of a robot provided in an embodiment of the present invention; Figure 4 This is a side view of a robot provided in an embodiment of the present invention; Figure 5 This invention provides a multi-sensor fusion high-risk area positioning device with manual remote control adaptation. Detailed Implementation

[0016] To facilitate understanding of the present invention, a brief description of the prior art and the inventive concept of the present invention will be provided first.

[0017] Existing multi-sensor fusion heat source localization systems typically consist of four core components: 1. Multi-sensor detection module: mainly includes an infrared thermal imaging module for acquiring the two-dimensional temperature distribution of the front or surrounding environment; an ambient temperature sensor array for measuring point temperatures in the robot's near field and in different directions; a gas detection module for detecting the concentration of oxygen (O2), carbon monoxide (CO), carbon dioxide (CO2), combustible gases (such as CH4), and toxic and harmful gases such as hydrogen sulfide selected according to the scenario; and a smoke or particulate matter sensor for reflecting smoke concentration and visibility. 2. Data processing module: mainly consists of an odometer, encoder, inertial measurement unit (IMU), and optional laser rangefinder or other ranging device, used to estimate the robot's relative position and attitude in hazardous environments and to construct two-dimensional or three-dimensional grid maps.

[0018] 3. Control and Processing Module: This module mainly moves according to manual remote control commands, collects and processes data from multiple sensors, and executes multi-sensor fusion safety assessment and fire source location algorithms.

[0019] 4. Communication and Human-Machine Interaction Module: Used for wireless or wired communication with external command terminals to transmit information such as risk assessment results, fire source location, and high-risk areas back to operators or command systems in real time.

[0020] The shortcomings of existing technologies include: while existing solutions have reduced personnel workload and improved operational safety to some extent in response to the high smoke concentration and low visibility at fire scenes, they still have deficiencies in enclosed or semi-enclosed complex environments: insufficient utilization of multi-sensor fusion, lack of autonomous positioning capability oriented towards heat sources, insufficient adaptability to enclosed complex environments, and weak connection between "reconnaissance results" and "firefighting decision-making." Therefore, this invention proposes a multi-sensor fusion high-risk area positioning method adapted to manual remote control to solve this technical problem.

[0021] Figure 1 This invention provides a method for locating high-risk areas using a multi-sensor fusion system with manual remote control adaptation. Figure 1 As shown, the method may include the following steps: S101. Control the robot to sample real-time sensor data of each area at fixed intervals; wherein, the real-time sensor data includes infrared thermal imaging data, ambient temperature, heating rate, smoke concentration, smoke concentration rising rate, duration of smoke concentration exceeding preset threshold, gas concentration, oxygen decline rate, travel distance increment and turning angle data.

[0022] Understandably, prior to S101, the weighting coefficients and alarm thresholds of various sensor features in fire source identification and high-risk gas identification could be pre-set according to the characteristics of the actual application scenario (such as fire scene, underground pipe gallery or confined space).

[0023] Specifically, the operator uses the real-time images from the visible light thermal imaging sensor camera to control the robot to move on a remote control terminal. At the same time, the robot continuously collects data from ambient temperature, smoke, and gas sensors and sends it to the terminal.

[0024] For example, at a fixed period, such as the current frame of an infrared thermal imaging image, the system acquires the instantaneous temperature value Tnow from the ambient temperature sensor, the instantaneous concentration values ​​of each gas sensor (O2, CO, CO2, combustible gas CH4, etc.), the instantaneous concentration values ​​of the smoke / particulate matter sensor, and the current driving distance increment Δs and steering angle data θ.

[0025] Specifically, smoke sensors can collect the absolute value of smoke concentration (to determine whether it has reached a level that obstructs vision), the rate of increase in concentration, and the duration for which it has continuously exceeded a preset threshold. Since dust is usually suspended, the values ​​are relatively stable or fluctuate with the wind; however, smoke from a fire has the characteristics of continuous accumulation and rapid rise. Therefore, if an upward trend is detected, it indicates that the smoke concentration is increasing, which requires attention.

[0026] Ambient temperature sensors can collect the rate of temperature rise. Even at a certain distance from the fire source, thermal convection can cause unnatural and rapid fluctuations in air temperature. This is a core indicator for differential temperature detectors in fire protection standards.

[0027] Gas sensors can collect characteristic gas concentrations, real-time PPM (Parts Per Million) values ​​of CO and combustible gases, and the rate of oxygen decline (obtained based on standard atmospheric oxygen content and current measurements). Since fires in confined spaces consume oxygen, if CO increases and O2 decreases, it can be identified as a combustion scenario.

[0028] S102. Preprocess the real-time sensor data to obtain processed data.

[0029] Optionally, the processed data includes the highest temperature, temperature gradient, heating trend, instantaneous carbon concentration, O2 decrease and duration.

[0030] For infrared thermal imaging data: the maximum temperature Tmax and the instantaneous ambient temperature Tnow can be extracted; temperature anomalies are calculated based on the difference between the maximum temperature Tmax and the instantaneous ambient temperature Tnow, and the difference is used to determine whether the temperature is on an upward trend; the temperature gradient Tgrad is calculated by extracting the edge features with the most dramatic temperature changes in the thermal imaging image, which is used to distinguish between ignition sources and heat sources. If the maximum temperature Tmax is high and the gradient is large, it is identified as an ignition source; if the maximum temperature Tmax is high but the gradient is small, it is identified as background thermal radiation (such as the surface of a coal pile exposed to the sun), thereby reducing the false alarm rate.

[0031] For gas and smoke data: a trend analysis method is used to calculate the rate of change of monitored values. The concentration increment is calculated by subtracting the baseline concentration at the inlet from the current concentration value; the concentration change rate is derived from the concentration change per unit time (dC / dt); the ΔO2 oxygen decrease rate is calculated based on the atmospheric oxygen content minus the current measurement; a timer is set to record the duration of exceeding the limit (t0). If the concentration of a gas continuously exceeds a preset safety threshold, the timer is incremented; otherwise, it is reset to zero. This feature reflects the persistence and accumulation degree of leakage or combustion. Simultaneously, based on the cumulative displacement and orientation, the accumulated Δs and θ are converted into relative positions (s, θ).

[0032] S103. Calculate the heat source indication and high-risk gas indication based on the processed data.

[0033] Optionally, the calculation process for the heat source indication is as follows: ; in, Indicates the heat source indication quantity. Indicates the highest temperature The weight, Representing temperature gradient The weight, Indicating a warming trend The weight, This represents the normalization function. This formula integrates three dimensions: "high absolute temperature", "clear edge contour (large gradient)" and "heating". The closer the value of the fire source indicator (0~1) is to 1, the greater the possibility of the existence of a real fire source.

[0034] Optionally, the calculation process for the high-risk gas indicator is as follows: ; in, Indicates the level of high-risk gases. Represents carbon element The weight of instantaneous concentration, Indicates the degree of O2 decrease The weight, Indicates duration The weight is determined by introducing the duration in the time dimension. This filters out momentary fluctuations; only persistent and stable dangers trigger high-score alarms. (Carbon element) The real-time concentration of (CO / CH4) indicates the degree of incomplete combustion / toxicity of carbon monoxide, while methane reflects the risk of explosion. The higher the concentration, the greater the risk. The closer it is to 1, the higher the level of the high-risk gas indicator. (Oxygen Drop Rate) = Normal Oxygen Content (20.9%) - Current Oxygen Content. In the case of a simple gas leak (such as a pipe leak), oxygen is usually simply displaced and drops slowly. However, in the case of a fire, the flames consume a large amount of oxygen, causing a sharp drop in the local microenvironment's oxygen concentration. It can serve as a powerful supplementary basis for judgment.

[0035] S104. When the heat source indication value is greater than the heat source determination threshold, mark the robot's current sampling area as a suspected heat source point.

[0036] S105. When the amount of high-risk gas indicated is greater than the gas hazard judgment threshold, mark the robot's current sampling area as a high-risk gas point.

[0037] Optionally, the driving distance increment and steering angle data are used to record the relative positions of suspected heat sources and high-risk gas points.

[0038] It is understandable that when the heat source indication quantity of a certain sampling area is greater than the preset heat source determination threshold, it is marked as a suspected heat source point, and its relative position coordinates are recorded; when the high-risk gas indication quantity of a certain sampling area is greater than the preset gas danger determination threshold, it is marked as a high-risk gas point, and the corresponding position coordinates are also recorded.

[0039] S106. When the distance between the suspected heat source point and the high-risk gas point is less than or equal to the preset radius, it is determined that the suspected heat source point and the high-risk gas point are the same hazard source.

[0040] Optionally, after S106, the method may further include: When the distance between the suspected heat source point and the high-risk gas point is greater than the preset radius, it is determined that the high-risk gas point is a smoldering fire source or a gas drift accumulation area; When there are hazard sources in the sampling areas corresponding to multiple consecutive fixed periods, the sampling areas corresponding to multiple consecutive fixed periods are aggregated into a dangerous interval.

[0041] It is understandable that spatial correlation analysis is performed on the suspected heat source point and the high-risk gas point. If the distance between the two is less than or equal to the preset radius, it is determined as the same hazard source; if the distance between the two is far, they are respectively marked to indicate that there may be a smoldering point (no open fire but with gas) or a gas drift accumulation area. For sampling areas that alarm for multiple consecutive periods, they can be further aggregated into a dangerous interval.

[0042] In one implementation, the identified suspected heat source points, high-risk gas points, their relative positions and risk levels can be sent to the remote control terminal in real time through the wireless communication module. Mark the positions with a relatively high possibility of fire (the heat source indication quantity value exceeds the level II high-risk threshold, and there is an obvious central hot spot in the thermal imaging) and the high-risk gas point positions on the terminal interface; in the text area beside the video screen, prompt in real time "Currently about s meters away from the entrance, heat source indication quantity = ××, gas danger indication quantity = ××". If the value exceeds the high-alarm threshold, trigger an audible and visual alarm to assist the operator in judging whether to continue to go deeper or evacuate, and evaluate the feasibility of personnel entry.

[0043] The risk level division can be referred to as follows: Level I (Attention): Low risk threshold < P < High risk threshold. Indicates that there is an abnormality Level II (Danger): P ≥ High risk threshold. Indicates that there is a very high probability of fire or lethal gas.

[0044] Once the robot has inspected all the areas to be tested, such as confirming the specific location and nature of the fire source, which is sufficient to support firefighters in making corresponding fire extinguishing plans, the robot can be remotely withdrawn. (In case of emergencies, when the battery or communication signal is low, the robot needs to be remotely withdrawn.) The processing and fusion analysis module records and archives the multi-sensor data, heat source indication / high-risk gas indication curves, and the location of each danger point throughout the entire mission process for post-event analysis or as a basis for command and decision-making.

[0045] In the above technical solution, the present invention, through a standardized multi-source data fusion architecture design, is compatible with existing fire-fighting robot operation modes. Addressing the visual feature loss problem caused by extreme environments such as high-risk, dense smoke, and high temperatures, it utilizes multiple real-time sensor data to overcome the perception limitations of a single sensor. By using heat source indication and high-risk gas indication to assist in positioning, it significantly improves the robot's coordinate calibration accuracy in high-risk blind areas. It can quickly locate the fire source centroid and autonomously avoid obstacles, effectively shortening the robot's single-operation dwell time in dangerous areas, thereby greatly reducing the occupational risk exposure of remote operators in extreme environments. It has low requirements for the computing power of the main control chip and can achieve stable operation on low-cost embedded microcontrollers or MCUs, eliminating the need for expensive graphics processing servers.

[0046] Figure 2 This is a schematic diagram of the structure of a robot provided in an embodiment of the present invention. Figure 3 This is a front view of a robot provided in an embodiment of the present invention. Figure 4 This is a side view of a robot provided in an embodiment of the present invention, such as... Figure 2 , Figure 3 and Figure 4 As shown, the robot includes: a smoke sensor 1, a gas sensor 2, an ambient temperature sensor 3, and a processing and analysis module 4 mounted on the detection component mounting position or the rotating gimbal 5 on the upper part of the robot. The processing and analysis module 4 is used to execute the aforementioned multi-sensor fusion high-risk area positioning method adapted to manual remote control; a visible light infrared thermal imaging camera 7 mounted at the center of the rotating gimbal 5; and a searchlight 8 mounted at the front end of the robot's walking chassis 6.

[0047] Understandably, the robot operator uses a remote terminal to control the robot's chassis 6 to enter target areas such as coal yards, fire scenes, or enclosed spaces, and controls the rotating gimbal 5 to rotate so that the field of view of the visible light infrared thermal imaging camera 7 covers the area to be detected, while the searchlight 8 provides auxiliary lighting when there is insufficient light.

[0048] Smoke sensor 1 collects the concentration of smoke and dust in the environment, gas sensor 2 collects the concentrations of carbon monoxide, oxygen, and combustible gases, and ambient temperature sensor 3 collects the near-field temperature. The processing and analysis module 4 (with built-in encoder and inertial sensor) records the robot's travel distance and orientation changes in real time. Through an internal communication bus, video and thermal image data collected by the visible light infrared thermal imaging camera 7, data collected by each sensor, and the pose data of the processing and analysis module 4 itself are aggregated into the processing unit of the processing and analysis module 4. Based on the multi-sensor fusion high-risk area positioning method of this invention with manual remote control adaptation, the processing and analysis module 4 first performs time synchronization and preprocessing on the multi-source data; then, it extracts high-temperature features, gas concentration increment features, and smoke features from the thermal image, and calculates the fire source indication and high-risk gas indication based on the robot's current relative pose. When the calculation result exceeds the corresponding judgment threshold, the processing and analysis module 4 automatically marks the current location as a suspected fire source or high-risk gas area, and transmits the result with location coordinates back to the operating terminal for display via a wireless network. If the high-risk threshold is exceeded, an alarm is triggered, thereby completing the entire inspection and target positioning control process of the hazardous environment.

[0049] Figure 5 This invention provides a multi-sensor fusion high-risk area positioning device with manual remote control adaptation, such as... Figure 5 As shown, the device may include: The data sampling module 501 is used to control the robot to sample real-time sensor data of each area at fixed intervals. The real-time sensor data includes infrared thermal imaging data, ambient temperature, heating rate, smoke concentration, smoke concentration rising rate, duration of smoke concentration exceeding a preset threshold, gas concentration, oxygen decrease rate, travel distance increment, and turning angle data. The data processing module 502 is used to preprocess real-time sensor data to obtain processed data; Calculation module 503 is used to calculate the heat source indication and the hazardous gas indication based on the processed data; The first marking module 504 is used to mark the current sampling area of ​​the robot as a suspected heat source point when the heat source indication is greater than the heat source determination threshold. The second marking module 505 is used to mark the robot's current sampling area as a high-risk gas point when the high-risk gas indication is greater than the gas hazard judgment threshold. The judgment module 506 is used to determine that the suspected heat source and the high-risk gas point are the same hazard source when the distance between them is less than or equal to a preset radius.

[0050] It is understood that the device embodiments are basically similar to the method embodiments, so the description is relatively simple, and relevant parts can be referred to in the description of the method embodiments.

[0051] It should be noted that the terms "first," "second," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention.

[0052] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0053] Although the invention has been described herein in conjunction with various embodiments, those skilled in the art will understand and implement other variations of the disclosed embodiments by reviewing the accompanying drawings and the disclosure in carrying out the claimed invention. In the description of the invention, the word "comprising" does not exclude other components or steps, "a" or "an" does not exclude a plurality, and "a plurality" means two or more, unless otherwise explicitly specified. Furthermore, while different embodiments may describe certain measures, this does not mean that these measures cannot be combined to produce good results.

[0054] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A multi-sensor fusion method for locating high-risk areas using manual remote control adaptation, characterized in that, The method includes: The robot is controlled to sample real-time sensor data from various areas at fixed intervals; wherein, the real-time sensor data includes infrared thermal imaging data, ambient temperature, heating rate, smoke concentration, smoke concentration rising rate, duration of smoke concentration exceeding a preset threshold, gas concentration, oxygen decrease rate, travel distance increment, and steering angle data. The real-time sensor data is preprocessed to obtain processed data; Calculate the heat source indication and the hazardous gas indication based on the processed data; When the heat source indication value is greater than the heat source determination threshold, the current sampling area of ​​the robot is marked as a suspected heat source point; When the indicated amount of high-risk gas is greater than the gas hazard determination threshold, the robot's current sampling area is marked as a high-risk gas point; If the distance between a suspected heat source and a high-risk gas point is less than or equal to a preset radius, then the suspected heat source and the high-risk gas point are determined to be the same hazard source.

2. The method of claim 1, wherein, The processed data includes the highest temperature, temperature gradient, heating trend, instantaneous carbon concentration, O2 decrease rate and duration.

3. The method of claim 2, wherein, The calculation process for the heat source indication is as follows: ； in, This indicates the heat source indication quantity. Indicates the highest temperature The weight, Representing temperature gradient The weight, Indicating a warming trend The weight, This represents the normalization function.

4. The multi-sensor fusion high-risk area positioning method with manual remote control adaptation according to claim 3, characterized in that, The calculation process for the indicated amount of the hazardous gas is as follows: ； in, This indicates the indicated quantity of the hazardous gas. Represents carbon element The weight of instantaneous concentration, Indicates the degree of O2 decrease The weight, Indicates duration The weight.

5. The multi-sensor fusion high-risk area positioning method with manual remote control adaptation according to claim 1, characterized in that, The driving distance increment and the steering angle data are used to record the relative positions of suspected heat sources and high-risk gas points.

6. The multi-sensor fusion high-risk area positioning method with manual remote control adaptation according to claim 1, characterized in that, After determining that the suspected heat source and the high-risk gas point are the same hazard source when the distance between them is less than or equal to a preset radius, the method further includes: If the distance between a suspected heat source and a high-risk gas point is greater than a preset radius, the high-risk gas point is determined to be a smoldering ignition source or a gas drift accumulation area. If there are hazardous sources in the sampling areas corresponding to multiple consecutive fixed periods, then the sampling areas corresponding to multiple consecutive fixed periods are aggregated into a hazardous interval.

7. A robot, characterized in that, include: A smoke sensor 1, a gas sensor 2, an ambient temperature sensor 3, and a processing and analysis module 4 are installed on the detection component mounting position on the upper part of the robot or on the rotating gimbal 5. The processing and analysis module 4 is used to execute the multi-sensor fusion high-risk area positioning method of manual remote control adaptation as described in claims 1-7. A visible light infrared thermal imaging camera 7 is installed at the center of the rotating gimbal 5. A searchlight 8 is installed at the front end of the robot's walking chassis 6.

8. A multi-sensor fusion high-risk area positioning device with manual remote control adaptation, characterized in that, The device includes: The data sampling module is used to control the robot to sample real-time sensor data of each area at fixed intervals; wherein, the real-time sensor data includes infrared thermal imaging data, ambient temperature, heating rate, smoke concentration, smoke concentration rising rate, duration of smoke concentration exceeding a preset threshold, gas concentration, oxygen decrease rate, travel distance increment and turning angle data. The data processing module is used to preprocess the real-time sensor data to obtain processed data; The calculation module is used to calculate the heat source indication and the hazardous gas indication based on the processed data; The first marking module is used to mark the current sampling area of ​​the robot as a suspected heat source point when the heat source indication value is greater than the heat source determination threshold. The second marking module is used to mark the robot's current sampling area as a high-risk gas point when the high-risk gas indication is greater than the gas hazard determination threshold. The judgment module is used to determine that the suspected heat source and the high-risk gas point are the same hazard source when the distance between them is less than or equal to a preset radius.

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