CN111494853B - A multi-mode visual servo control fire protection system and its working method - Google Patents
A multi-mode visual servo control fire protection system and its working method Download PDFInfo
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- CN111494853B CN111494853B CN202010279393.XA CN202010279393A CN111494853B CN 111494853 B CN111494853 B CN 111494853B CN 202010279393 A CN202010279393 A CN 202010279393A CN 111494853 B CN111494853 B CN 111494853B
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/04—Control of fire-fighting equipment with electrically-controlled release
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Abstract
The invention discloses a multi-mode vision servo control fire-fighting system and a working method thereof, wherein the system comprises a fire monitor, an infrared near-field vision device, a binocular vision device and a control system; the infrared near-field vision device comprises an infrared camera, a near-field camera, a support frame, a support beam and a buckle; the binocular vision devices comprise industrial cameras, sensors, industrial cameras, binocular camera boxes and rotatable electric telescopic rods; the control system comprises a processing unit, a controller and a control cabinet. The intelligent fire extinguishing system integrates a vision system with multiple modes, can meet the fire extinguishing requirements under multiple environments, improves the efficiency of fire extinguishing operation, and achieves the purpose of intelligent fire extinguishing.
Description
Technical Field
The invention relates to a multi-mode visual servo control fire-fighting system and a working method thereof, belonging to the field of fire fighting.
Background
With the rapid development of China, urban buildings are dense and high-rise, and chemical plants and the like have great potential safety hazards and are very likely to generate large-scale fires. Because the fire environments of urban buildings, chemical plants and the like are complex, the fire hazard degree is high, great economic loss and casualties are easily caused, and effective artificial fire extinguishment cannot be adopted. Therefore, the demand for fire fighting technology is becoming higher and higher in the current social development.
For fire-fighting technology, the fire monitor system plays a leading role therein and is a key in the fire-fighting process. The existing fire monitor can be controlled manually or automatically. The automatic control fire water monitor is mostly in a remote control type, and part of intelligent fire water monitors are also provided. The remote control type intelligent fire monitor judges the position of a fire scene through a fireman and manually controls the fire monitor to rotate to aim at the position of the fire scene to extinguish fire; the existing intelligent fire-fighting system mainly comprises fire sensing technologies such as an infrared flame sensor and the like, and the fire sensing technologies play a key role in the fire sensing technologies. The fire extinguishing mode of the fire extinguishing system mainly judges the position of a fire disaster through infrared sensors and the like, and then controls the fire monitor to rotate to aim at the position of the fire disaster to extinguish the fire. However, single infrared positioning is not accurate, only two-dimensional information of a fire scene can be obtained, distance information of the fire scene cannot be obtained, and a large number of infrared sensors are required to be arranged if accurate positioning is required.
With the rapid development of computer technology, digital image processing and other technologies are widely applied to fire monitor. The patent of application number 201711364149.8 proposes a method for positioning a fire monitor based on binocular vision, which uses the characteristics of a binocular camera to obtain the space position of flame and control the fire monitor to extinguish fire, and the patent mainly describes the positioning of a fire scene, but after the position of the fire scene is obtained, how to control the rotation of the fire monitor is not described, besides, if very serious interference exists in the fire scene, such as dense smoke, the accuracy of the binocular vision can be seriously influenced, and how to position the fire monitor under the condition. The patent application No. 201210277033.1 discloses an automatic flame detection system with three-dimensional positioning, which uses at least two high-resolution infrared CCD image type fire detectors for flame three-dimensional positioning, wherein the positioning of the infrared CCD detectors is not specifically described. Application No. 201610089595.1 discloses a water spray fire extinguishing method of self-service aiming at goods source, this method uses hot line imager to fix a position and then obtain the positional information in the scene of a fire at two different positions, then puts out a fire, however, this method needs to remove between 2 positions and can realize the location, if face the occasion that can't remove, for example install on the fire engine or use as fixed type fire monitor, should how again fix a position again. Meanwhile, most of the existing technologies control the fire monitor to rotate and spray the fire extinguishing agent after identifying the fire scene through the visual technology, and the method has the defects that: if the fire extinguishment is interfered, such as strong wind, fire scene transfer and the like, the method cannot be adjusted in time, and only can be used for executing the identification process again and repositioning, so that the fire extinguishment time is prolonged, and the fire extinguishment progress is influenced.
Therefore, the existing fire monitor based on the vision technology has the following defects:
1. the fire scene is identified for the first time, the fire monitor is controlled to rotate to the position of the designated angle after the fire scene is identified, the visual system ends the work, and if strong wind or fire scene transfer occurs in the fire extinguishing process, the jet flow track cannot accurately reach the position of the fire scene, and only can be positioned again.
2. Separate binocular or infrared techniques are often used in the prior art. For the binocular technology, the positioning accuracy depends on the complexity of the external environment, the positioning can be accurately performed under the condition of less interference, and the positioning accuracy can be influenced if a large number of trees or dense smoke exists; the infrared technology mainly discerns the temperature, if there are many conflagrations in the scene of putting out a fire, then, independently rely on infrared technology to be unable to put out a fire to the point that needs put out a fire accurately, simultaneously, infrared camera often is expensive, uses a plurality of infrared cameras can greatly increased cost undoubtedly, it is required to notice that infrared camera's discernment scope is also limited.
Disclosure of Invention
Aiming at the problems, the invention discloses a multi-mode visual servo control fire-fighting system and a working method thereof, provides a plurality of visual servo control methods, different modes can be applied to different fire scenes, and solves the problems of inaccurate positioning, large influence of the fire scenes and the like of the existing intelligent fire monitor.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a multi-mode visual servocontrol fire-fighting system, comprising:
the fire monitor is used for emitting fire extinguishing agents to a fire scene;
the first binocular vision device is arranged in front of one side of the fire monitor and used for acquiring a fire scene image and acquiring the spatial positions of the fire monitor and the fire scene, and a first angle sensor is mounted on the first binocular vision device;
the second binocular vision device is arranged at the lateral rear part of the other side of the fire monitor and is used for acquiring a fire scene image and acquiring the spatial position of the fire monitor and the fire scene, and a second angle sensor is arranged on the second binocular vision device;
the third angle sensor is arranged on the gun head of the fire monitor;
the infrared near-field vision device is used for acquiring a temperature image of a fire scene and a jet flow track initial section image of the fire monitor;
and the control system is in signal connection with the first binocular vision device, the second binocular vision device, the first angle sensor, the second angle sensor, the third angle sensor, the infrared near-field vision device and the fire monitor.
The first binocular vision device and the second binocular vision device are identical in structure and are oppositely arranged on two sides of the fire monitor;
the first binocular vision apparatus comprises: the camera comprises a first industrial camera, a second industrial camera, a first angle sensor and a first binocular camera box, wherein the first industrial camera, the first sensor and the second industrial camera are installed in the first binocular camera box in parallel, and the bottom of the first binocular camera box is connected with a first rotatable electric telescopic rod;
the second binocular vision apparatus comprises: the camera comprises a third industrial camera, a fourth industrial camera, a second angle sensor and a second binocular camera box, wherein the third industrial camera, the second angle sensor and the fourth industrial camera are arranged in the second binocular camera box in parallel, and the bottom of the second binocular camera box is connected with a second rotatable electric telescopic rod;
the first rotatable electric telescopic rod, the second rotatable electric telescopic rod and the fire monitor horizontal rotating shaft are located on the same straight line.
The control system comprises a processing unit, a controller and a control cabinet.
The infrared near-field vision device includes:
the bottom of the support frame is fixedly installed with a monitor head of the fire monitor through a buckle, an infrared camera is installed on the upper portion of the support frame and located right above the monitor head, and the optical axis of the infrared camera and the axis of a monitor tube of the fire monitor are located on the same vertical plane;
the supporting beam is connected to one side of the supporting frame in parallel, and a near-field camera is fixedly mounted at one end, far away from the supporting frame, of the supporting beam.
The invention further discloses a working method based on the multi-mode visual servo control fire-fighting system,
through binocular vision device acquires the scene of a fire image and combines angle sensor to obtain the spatial position of fire gun and scene of a fire, and then control fire gun puts out a fire, discerns the efflux orbit and judges whether the efflux reachs the scene of a fire through binocular vision device simultaneously, specifically is:
the first binocular vision device or the second binocular vision device obtains the spatial position (x, y, z) of the fire scene relative to the binocular vision device;
a third angle sensor positioned at the gun head and a first angle sensor positioned at the first binocular camera box measure an included angle alpha between the first binocular vision device and the central axis of the gun head;
a third angle sensor positioned at the gun head and a second angle sensor positioned at the second binocular camera box measure an included angle alpha between the second binocular vision device and the central axis of the gun head;
establishing a first coordinate system by taking a first industrial camera positioned on the left side of a binocular camera box in the first binocular vision device as an origin and taking a first industrial camera optical axis as a z-axis, wherein the coordinates of the fire monitor under the coordinate system are (x 1, y1, z1), and the coordinates of a fire scene are (x, y, z); and moving the first coordinate system to the position of the fire monitor to be changed into a second coordinate system with the fire monitor as an original point, wherein the coordinates of the fire scene under the second coordinate system are (x-x1, y-y 1 and z-z1), and the included angle between the connecting line of the fire scene and the fire monitor and the z axis of the second coordinate system is as follows: β = arctan ((x-x 1)/(z-z 1)); therefore, the angle γ by which the fire monitor needs to be horizontally rotated is: γ = β - α;
the distance d between the fire monitor and the fire scene is obtained by the following formula:
d=
wherein, in the step (A),
h is the height of the fire monitor, and H is the elongation of the rotatable electric telescopic rod;
according to the distance d, the pitching rotation angle of the fire monitor can be obtained;
according to the spatial position of the fire scene relative to the gun head, the control system sends out an instruction to control the horizontal rotation and the pitching rotation of the fire monitor, so that the fire monitor is aligned to the fire scene, and the fire extinguishing agent jet flow is sprayed out;
the binocular vision device identifies the fire extinguishing agent jet flow track, calculates the spatial position of the fire extinguishing agent jet flow track through the control system, and judges whether the fire extinguishing agent jet flow falling point reaches a fire scene; if the fire extinguishing agent jet flow does not reach the fire scene, the control system sends out an instruction to control the horizontal rotation and the pitching rotation of the fire monitor until the fire extinguishing agent jet flow falls to the fire scene;
recognizing temperature distribution in a view field range through an infrared camera in the infrared near-field vision device, and when the highest temperature is not obviously higher than the ambient temperature, sending an instruction by a controller to control the fire monitor to horizontally rotate until the highest temperature is obviously higher than the ambient temperature;
the control system judges whether the highest temperature point appears in the middle area of the infrared camera view field, and if the highest temperature point does not appear in the middle area of the infrared camera view field, the control system sends an instruction to control the fire monitor to horizontally rotate until the highest temperature point appears in the middle area of the infrared camera view field;
acquiring an initial section image of a fire extinguishing agent jet flow track of the fire monitor through a near-field camera in the infrared near-field vision device;
the control system predicts the linear distance between the fire extinguishing agent jet flow falling point and the gun head of the fire monitor based on the initial section image of the fire extinguishing agent jet flow track of the fire monitor acquired by the infrared near-field vision device, and sends an instruction to control the pitching rotation of the fire monitor according to the predicted linear distance between the fire extinguishing agent jet flow falling point and the gun head until the predicted linear distance between the fire extinguishing agent jet flow falling point and a fire scene is zero.
When the two binocular vision devices start working, the two binocular vision devices simultaneously lift the rotatable electric telescopic rods of the two binocular vision devices, acquire images and rotate to align the images with a fire scene, so that the fire scene is positioned in the middle of the images; at the moment, if the fire monitor is not in the image of one binocular vision device, the rotatable electric telescopic rod of the fire monitor is lowered, and the fire monitor stops working.
The beneficial effects of the invention are as follows:
the invention provides a multi-mode vision servo control fire-fighting system which comprises an infrared near-field vision system, a binocular vision system, a fire monitor and a control system, wherein the infrared near-field vision system is connected with the binocular vision system; the binocular vision system acquires fire scene images and obtains the spatial positions of the fire monitor and the fire scene by combining the sensor angle sensor, so that the fire monitor is controlled to extinguish a fire, and simultaneously, jet flow tracks are identified and whether jet flows reach the fire scene or not is judged, so that the fire extinguishing accuracy of the fire monitor is improved, the two binocular vision systems are arranged, dead-angle-free shooting of the surrounding fire scene can be met, and meanwhile, the binocular vision system can also be applied to fire scenes where the infrared vision system is not suitable, for example, the fire scene position is out of the range of an infrared camera, and fire extinguishing needs to be carried out on one of a plurality of fire scenes; the infrared vision system controls the fire monitor to extinguish fire by acquiring the temperature image of the fire scene and the initial section image of the jet flow track, can be applied to complex fire scene environments, and can also be applied to fire scenes with inapplicable binocular vision systems, such as the situation that a large amount of trees and smoke interfere in the fire scene. The infrared near-field vision system and the binocular vision system can work respectively and can also work cooperatively, and therefore, the fire scenes which are not suitable for the infrared near-field vision system and the binocular vision system are complemented. Compared with a system in a single vision mode, the system can meet fire extinguishing requirements in different scenes, so that the applicability of the fire monitor is greatly enhanced, the problem that the application scene of a single vision system is single is solved, the fire extinguishing operation efficiency is improved, and the robustness of the system is greatly improved. Meanwhile, in the fire extinguishing process, the visual system is always in an open state, the fire extinguishing agent jet flow track is monitored in real time, and the rotation angle of the fire monitor is controlled in a closed-loop mode, so that the fire extinguishing agent can accurately reach the fire scene.
Drawings
FIG. 1 is an overall layout of the present invention;
FIG. 2 is a front view of the infrared near field vision apparatus of the present invention;
FIG. 3 is a top view of the structure of the infrared near field vision device of the present invention;
fig. 4 is a schematic view of the binocular vision apparatus of the present invention;
FIG. 5 is a schematic view of a tilt sensor arrangement in the binocular vision apparatus of the present invention;
FIG. 6 is a schematic diagram of the control system architecture of the present invention;
FIG. 7 is a control flow diagram of the present invention for implementing a fire suppression process;
fig. 8 is a schematic diagram of the processing unit acquiring the fire scene location.
Shown in the figure:
1. an infrared near field vision device; 2. a first binocular vision device; 3. a second binocular vision device; 4. fire monitor; 5. an infrared camera; 6. a near field camera; 7. a support frame; 8. a support beam; 9. buckling; 10. a first industrial camera; 11. a first angle sensor; 12. a second industrial camera; 13. a first binocular camera box; 14. a first rotatable electric telescopic rod; 15. a third angle sensor; 16. a gun head; 17. a processing unit; 18. a controller; 19. a control cabinet.
Detailed Description
The technical scheme of the invention is further described in detail by combining the drawings and the specific embodiments in the specification.
As shown in fig. 1-5, the present invention provides a multi-mode visual servo control fire-fighting system and a control method thereof, wherein the system comprises: the system comprises an infrared near-field vision device 1, a first binocular vision device 2, a second binocular vision device 3, a fire monitor 4 and a control system;
the infrared near-field vision device 1 comprises an infrared camera 5, a near-field camera 6, a support frame 7, a support beam 8 and a buckle 9, wherein the infrared camera 5 and the near-field camera 6 are arranged above the fire monitor 4 through the support frame 7, the support beam 8 and the buckle 9;
the first binocular vision device 2 and the second binocular vision device 3 are configured identically, and each of the first binocular vision device and the second binocular vision device comprises two industrial cameras which are arranged in bilateral symmetry, an angle sensor arranged in the middle of the two industrial cameras, a binocular camera box and a rotatable electric telescopic rod, wherein the two industrial cameras and the angle sensor are arranged in the binocular camera box in parallel, the two industrial cameras and the angle sensor are arranged in the front of the side and the rear of the side of the fire monitor 4 through the rotatable electric telescopic rod, and the two binocular vision devices face in opposite directions.
A third angle sensor 15 is arranged on the fire monitor head;
the control system comprises a processing unit 17, a controller 18 and a control cabinet 19.
The respective rotatable electric telescopic rods of the binocular vision devices and the horizontal rotating shaft of the fire monitor 4 are positioned on the same straight line; when the two binocular vision devices start working, the two binocular vision devices respectively lift the electric telescopic rods of the two binocular vision devices, acquire images and rotate to align the images with a fire scene, so that the fire scene is positioned in the middle of the images; at this time, if the fire monitor 4 is not in the image of the binocular vision device, the rotatable electric telescopic rod is lowered down to stop working. The two binocular vision devices respectively and independently obtain the spatial positions (x, y, z) of the fire scene relative to the binocular vision devices;
a third angle sensor 15 positioned at the gun head 16 and an angle sensor positioned at the binocular camera box measure an included angle alpha between the binocular vision device and the central axis of the gun head 16;
the height of the binocular vision device relative to the gun head 16 is calculated through the elongation h of the rotatable electric telescopic rod 14; the height H of the fire monitor 4 is known. The processing unit 17 calculates the spatial position of the fire scene relative to the monitor head 16 and the rotation angle of the fire monitor 4 from the above information. The treatment process is as follows: as shown in fig. 8, a coordinate system one is established with the first industrial camera 10 located in the first binocular camera box 13 in the first binocular vision device as the origin and the optical axis of the first industrial camera 10 as the z-axis, the coordinates of the fire monitor under the coordinate system are (x 1, y1, z1), and the fire scene coordinates are (x, y, z); and moving the first coordinate system to the position of the fire monitor to be a second coordinate system with the fire monitor as an original point, wherein the coordinates of the fire scene under the second coordinate system are (x-x1, y-y 1, z-z 1). Under the second coordinate system, the included angle between the connecting line of the fire scene and the fire monitor and the z axis of the second coordinate system is as follows: β = arctan ((x-x 1)/(z-z 1)); therefore, the angle γ by which the fire monitor needs to be horizontally rotated is: γ = β - α.
The distance d between the fire monitor 4 and the fire scene is as follows: d =
According to the distance d, the pitching rotation angle of the fire monitor 4 can be obtained, according to the spatial position of the fire scene relative to the monitor head 16 and the rotation angle, the controller 18 sends out an instruction to control the horizontal rotation and pitching rotation of the fire monitor, so that the fire monitor 4 is aligned to the fire scene, and the fire extinguishing agent jet flow is sprayed out; the binocular vision device 2 or 3 identifies the fire extinguishing agent jet flow track, calculates the spatial position of the fire extinguishing agent jet flow track through the processing unit 17, and judges whether the fire extinguishing agent jet flow falling point reaches a fire scene; if the fire is not reached, the controller 18 commands the fire monitor to rotate horizontally and vertically until the drop of the fire suppressant jet reaches the fire.
The infrared camera 5 of the infrared near-field vision device 1 identifies the temperature distribution in the field range, and when the highest temperature is not obviously higher than the ambient temperature, the controller 18 sends an instruction to control the fire monitor to horizontally rotate until the highest temperature is obviously higher than the ambient temperature; the processing unit 17 determines whether the highest temperature point appears in the middle area of the field of view of the infrared camera 5, and if the highest temperature point does not appear in the middle area of the field of view of the infrared camera 5, the controller 18 sends an instruction to control the fire monitor to horizontally rotate until the highest temperature point appears in the middle area of the field of view of the infrared camera 5. A near-field camera 6 of the infrared near-field vision device 1 acquires an initial section image of a fire extinguishing agent jet flow track of the fire monitor 4; the processing unit 17 predicts the linear distance between the fire extinguishing agent jet flow falling point of the fire monitor 4 and the monitor head 16 based on the initial segment image; the controller 18 issues instructions to control the fire monitor to rotate in pitch according to the predicted linear distance between the drop point of the fire extinguishing agent jet and the monitor head 16 until the predicted linear distance between the drop point of the fire extinguishing agent jet and the fire scene is zero.
The foregoing is merely a preferred embodiment of the invention and it should be noted that modifications can be made by persons skilled in the art without departing from the principles of the invention and these modifications should also be considered as within the scope of the invention.
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| CN202010279393.XA CN111494853B (en) | 2020-04-10 | 2020-04-10 | A multi-mode visual servo control fire protection system and its working method |
| CA3137995A CA3137995C (en) | 2020-04-10 | 2020-07-27 | Multi-mode visual servo control fire-fighting system and working method thereof |
| AU2020441493A AU2020441493B2 (en) | 2020-04-10 | 2020-07-27 | Multimode visual servoing firefighting system and operating method therefor |
| PCT/CN2020/104824 WO2021203582A1 (en) | 2020-04-10 | 2020-07-27 | Multimode visual servoing firefighting system and working method therefor |
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| CN112090015B (en) * | 2020-10-12 | 2025-06-10 | 江西省智能产业技术创新研究院 | Collaborative scheduling system and scheduling method of fire-fighting robot |
| CN113041537A (en) * | 2021-04-14 | 2021-06-29 | 中国矿业大学 | Fire monitor system with variable-visual-angle binocular structure and method |
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| CN113382143B (en) * | 2021-06-09 | 2022-07-29 | 中国矿业大学 | Automatic exposure adjusting method for binocular camera of fire-fighting robot |
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| CN115337581B (en) * | 2022-10-14 | 2022-12-27 | 中国矿业大学 | Fire-fighting method based on multi-view vision fire-fighting system |
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- 2020-07-27 CA CA3137995A patent/CA3137995C/en active Active
- 2020-07-27 WO PCT/CN2020/104824 patent/WO2021203582A1/en not_active Ceased
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| Publication number | Publication date |
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| CA3137995A1 (en) | 2021-10-14 |
| AU2020441493A1 (en) | 2021-11-18 |
| WO2021203582A1 (en) | 2021-10-14 |
| CA3137995C (en) | 2023-09-26 |
| CN111494853A (en) | 2020-08-07 |
| AU2020441493B2 (en) | 2024-01-25 |
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