CN107798812A - A kind of factory building Omni-mobile fire-fighting monitoring robot system and method - Google Patents
A kind of factory building Omni-mobile fire-fighting monitoring robot system and method Download PDFInfo
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- CN107798812A CN107798812A CN201711181482.5A CN201711181482A CN107798812A CN 107798812 A CN107798812 A CN 107798812A CN 201711181482 A CN201711181482 A CN 201711181482A CN 107798812 A CN107798812 A CN 107798812A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000004891 communication Methods 0.000 claims abstract description 18
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- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims description 6
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- 238000006243 chemical reaction Methods 0.000 description 2
- 230000002153 concerted effect Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012806 monitoring device Methods 0.000 description 2
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/12—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions
- G08B17/125—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions by using a video camera to detect fire or smoke
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- Automation & Control Theory (AREA)
- Alarm Systems (AREA)
Abstract
The present invention relates to a kind of factory building Omni-mobile fire-fighting monitoring robot system, including：Chassis drive system, including Omni-mobile chassis form with whole audience alignment system；Omni-mobile chassis is provided with the omni-directional wheel of any direction movement in the plane；Whole audience alignment system includes two orthogonal encoders and gyroscope；Vision collecting module, it is connected with robot master control；Temperature monitoring module, it is connected with robot master control；Communication module, realize the connection of robot master control and local PC ends；Alarm modules, it is connected with robot master control；Remote control module, pass through wireless connection remote control and master control；Automatic charging system, including charging pile and robot itself charging electrode.A kind of factory building Omni-mobile fire-fighting monitoring robot system and method disclosed by the invention, effectively overcome above tradition fire-fighting monitoring system by such environmental effects it is big, easily wrong report, cost height, complex process, have the shortcomings that monitoring dead angle.
Description
Technical field
The present invention relates to carry out real-time monitoring robot phase for electrical equipment working condition in factory building, and hidden fire-fighting danger
Pass field, the Omni-mobile judged more particularly, to a kind of robot automatic path planning and to electrical equipment working condition disappear
Anti- monitoring robot system and method.
Background technology
With greatly developing for China's economy, as the major fields of national economy, heavy industry has also obtained considerable hair
Exhibition, the safety precaution problem of factory building internal electric equipment gradually cause the concern of people.Seek effective method to factory building inside
The fire condition of electrical equipment timely and effectively monitor and alarm, it can be ensured that the safety of people's life and property.Currently
Fire-fighting monitoring system mainly uses two schemes：First, being monitored using Smoke Sensor, its advantage is that cost is low, installation letter
It is single；Shortcoming is to be not suitable for using in large-scale open space, and easily dust, steam, light source, vibration etc. are a variety of in environment monitored
The influence of factor, needs periodic cleaning and maintenance.Second, the fire detection based on video image processing technology, its advantage is according to fire
The picture characteristics of flame and smog, with digital image processing techniques and mode identification technology, solves the detection of Code in Hazardous Special Locations
Problem, highly reliable, intelligent height；Shortcoming is that multi-channel video transmission need to expend large bandwidth, is typically communicated using wired mode
Cloth cable complex process, construction costs are high.
The content of the invention
The present invention mainly improves in traditional fire-fighting monitoring system greatly, easily to be reported by mistake by such environmental effects, and it is dead to there is monitoring
The technical problems such as angle, cost height, complex process.Propose it is a set of can be intelligent, influenceed small, adaptable factory building fire-fighting by ring
Monitoring robot system and method.
To achieve the above object, the invention discloses following technical scheme：
A kind of factory building Omni-mobile fire-fighting monitoring robot system, including：
Chassis drive system, including Omni-mobile chassis form with whole audience alignment system；The Omni-mobile chassis is provided with
The omni-directional wheel of any direction movement in the plane；The whole audience alignment system includes two orthogonal encoders and gyroscope, in machine
It is orthogonal to give pulses travel back to robot master control installed in encoder in the moving process of device people chassis, for recorder people flat
Transverse axis and longitudinal axis displacement in face；Gyroscope is used in recorder people's steering procedure the angle rotated, and is returned to machine
People's master control, the distance that postrotational robot is passed by by robot master control pass angle back with gyroscope and carry out computing, and projection is extremely
Among the coordinate system of robot initial operation, robot present position is drawn, realizes the whole audience positioning of robot；
Vision collecting module, it is connected with robot master control, for recording equipment image and equipment surrounding environment, to occur
Related personnel handles hidden danger during potential safety hazard, there is provided accurate field condition；
Temperature monitoring module, it is connected with robot master control, electrical equipment is pasted by being combined with vision collecting module
Label is scanned, and reads facility information, and carries out temperature detection to electrical equipment, and measurement temperature is specified with electrical equipment
Temperature, which is compared, judges its working condition；
Communication module, the connection of robot master control and local PC ends is realized, for realizing robot and local PC client informations
Interaction, is engaged with vision collecting module, temperature monitoring module, the device fault information detected is sent to PC ends；
Alarm modules, it is connected with robot master control, related personnel is reminded when finding that catastrophe failure alarm is blown a whistle；
Remote control module, by wireless connection remote control and master control, by manual remote control to build environment map, by environment
Map is stored to memory, is changed into known environment, to realize automatic patrol when being again introduced into；Vision collecting mould can be passed through simultaneously
Block obtains graphic scene；
Automatic charging system, including charging pile and robot itself charging electrode, charging pile are generated by whole audience alignment system
Charging pile coordinate, robot are moved to charging pile position and dock growth charging electrode with charging pile, and completion is voluntarily charged.
A kind of foregoing factory building Omni-mobile fire-fighting monitoring robot system, Omni-mobile chassis are in diagonal including four
The omnidirectional driving wheel of installation, the motor with encoder, read back umber of pulse by encoder, by robot master control by umber of pulse
Omni-directional wheel rotational angle and speed is calculated, so as to realize closed-loop control, the angle and speed that are rotated according to omni-directional wheel, gives
The rotating speed of each omni-directional wheel, the moving direction for making a concerted effort to determine Omni-mobile chassis rotated by four omni-directional wheels and mobile speed
Degree.
A kind of foregoing factory building Omni-mobile fire-fighting monitoring robot system, communication module is provided with storage device, by depositing
Storage device preserves non-emergent fault message, and failure is carried out in the system free time and is reported, and realizes instant messaging and delay communication.
A kind of foregoing factory building Omni-mobile fire-fighting monitoring robot system, alarm module is including local alarm module and far
Alarm module is held, local alarm module, which is realized to blow a whistle, reminds Field Force, and remote-end alarm module is warned failure by communication module
Report to distal end responsible person and waits pending with the continual transmission of fault message.
A kind of foregoing factory building Omni-mobile fire-fighting monitoring robot system, vision collecting module image including ov7670
Head, it is connected by iic bus communication protocol with robot master control, gathered image is passed back robot master control, by robot master
Control processing shooting picture.
A kind of foregoing factory building Omni-mobile fire-fighting monitoring robot system, temperature monitoring module include that LSCI-CJG is non-connects
Integrated infrared temperature transducer and GY-906 infrared temperature-test sensors are touched, two sensors pass through iic bus and robot
Master control is communicated.
Invention additionally discloses a kind of flame identification method of factory building Omni-mobile fire-fighting monitoring robot, including following step
Suddenly：Robot master control receives the colour picture of vision collecting module collection, master control first to the channel separation of colour picture type 3,
Secondly passage figure is filtered, then calculates flame particular location, finally extract flame.
A kind of flame identification method of foregoing factory building Omni-mobile fire-fighting monitoring robot, calculate flame particular location
When, channel histogram is contrasted first, and red channel and yellow channels are multiple spot, and blue channel is few point, thus calculates approximation
The pixel of flame, contours extract is then carried out, flame pixels point is analyzed, if the relative position of some points is close,
These points are so classified as same group, other points are classified as same group, after packet is completed, these groups are surrounded, Ran Houjin
Row expansion calculates, if phase mutual energy links together, you can be considered as flame.
A kind of factory building Omni-mobile fire-fighting monitoring robot system and method disclosed by the invention, including remote control Scaned map
System, Omni-mobile chassis and a set of temperature monitoring equipment judged for electrical equipment working condition and Real-time Feedback scene feelings
The vision collecting module of condition, and communication and alarm modules composition.Effectively above tradition fire-fighting monitoring system is overcome by environment
Factor influences big, easy wrong report, cost height, complex process, has the shortcomings that to monitor dead angle.
Brief description of the drawings
Fig. 1 is the system composition figure of the present invention.
Embodiment
The technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described implementation
Example only part of the embodiment of the present invention, rather than whole embodiments.It is common based on the embodiment in the present invention, this area
The every other embodiment that technical staff is obtained under the premise of creative work is not made, belong to the model that the present invention protects
Enclose.
The core of the present invention is to improve in traditional fire-fighting monitoring system greatly, easily to be reported by mistake by such environmental effects, prison be present
Control the technical problems such as dead angle, cost height, complex process.Propose it is a set of can be intelligent, influenceed small, adaptable factory building by ring
Fire-fighting monitoring robot system and method.
Refer to Fig. 1.A kind of factory building Omni-mobile fire-fighting monitoring robot system disclosed by the invention, including：
Chassis drive system, including Omni-mobile chassis form with whole audience alignment system；The Omni-mobile chassis is provided with
The omni-directional wheel of any direction movement, Omni-mobile chassis can realize the translation of planar any direction in the plane, effectively
Monitoring dead angle is eliminated, is combined with whole audience alignment system, and is reduced using local paths planning algorithm during patrol
Traveling time, substantially reduces the patrol time, and monitoring efficiency greatly improves；The whole audience alignment system includes two orthogonal codings
Device and gyroscope, it is orthogonal to give pulses travel back to robot master control installed in encoder in robot chassis moving process, it is used for
Recorder people planar transverse axis and longitudinal axis displacement；Gyroscope is used in recorder people's steering procedure the angle rotated
Degree, and robot master control is returned to, the distance that postrotational robot is passed by by robot master control passes angle back with gyroscope
Computing is carried out, is projected to the coordinate system of robot initial operation, is drawn robot present position, realize robot
The whole audience positions；
Vision collecting module, it is connected with robot master control, the collection to current device context situation can be achieved, is finding fire
Available photo site during fire occurs for calamity hidden danger, facilitates related personnel's timely processing condition of a fire or eliminates disaster hidden-trouble, carries
For accurate field condition；, as the eyes of monitoring personnel, more dangerous region can be also remotely controlled under remote control mode
Exploration, reduce unnecessary casualties, and accurate live foundation is provided for effective processing potential safety hazard.
Temperature monitoring module, it is connected with robot master control, electrical equipment is pasted by being combined with vision collecting module
Label is scanned, and reads facility information, and carries out temperature detection to electrical equipment, and measurement temperature is specified with electrical equipment
Temperature, which is compared, judges its working condition.Its working condition is divided into：It is normal operating conditions, abnormal working position, serious
Malfunction.Reaction action can be automatically selected for above working condition machine people, such as recording equipment numbering, temperature, work shape
State, ready-made picture, device coordinate, reaction is with record, prompting, panic alarm to processing device security hidden danger.Temperature monitoring mould
Block can accurate collecting device particular location temperature, compared with operating temperature ratings, judge equipment working state, enter line number
According to record, safety instruction or emergency alarm.System at regular intervals analyzes and processes to institute's gathered data, is aided with artificial assistance, can have
The False Rate of reduction system is imitated, increases the stability of a system.Self-protection function can be realized by temperature monitoring module robot, it is real
When monitoring robot ambient temperature, avoid making itself to be damaged because environment temperature is too high, make robot in high temperature ring
Self-insurance is realized under border, improves the stability of system operation.
Communication module, the key interacted for robot with local PC client informations, realize robot master control and local PC ends
Connection, for realizing that robot interacts with local PC client informations, is engaged with vision collecting module, temperature monitoring module, will examine
The device fault information measured is sent to PC ends；Communication module directly enters the biography of row information and figure ticket for robot with PC ends in time
It is defeated.Communication module has certain storage capacity, is combined using instant send with delay transmission, for safety may be triggered hidden
The catastrophe failure of trouble uses instant sending mode, and the fault message for being stored in inside and picture circulation are occurred to PC ends, carries
The personnel that wake up handle hidden fire-fighting danger；When the irregular operating of discovering device and equipment free time off-duty, sent using delay, temporarily first
When its information record is got off, stored information is sent to PC ends when the system is idle, information processing is done for PC ends and waits
Treat that related personnel is handled.
Alarm modules, it is connected with robot master control, related personnel is reminded when finding that catastrophe failure alarm is blown a whistle；
Remote control module, by wireless connection remote control and master control, by artificial distant in circumstances not known or during emergency
Control, by manual remote control to build environment map, environmental map is stored to memory, is changed into known environment, is again introduced into
When to realize automatic patrol；Graphic scene can be obtained by vision collecting module simultaneously；
Automatic charging system, including charging pile and robot itself charging electrode, charging pile are generated by whole audience alignment system
Charging pile coordinate, robot are moved to charging pile position and dock growth charging electrode with charging pile, and completion is voluntarily charged, and is solved
The problem of robot cruising time is short.
Omni-mobile chassis in the present invention uses omni-directional wheel moving algorithm, it is possible to achieve the shifting of any direction in the plane
It is dynamic, be combined with whole audience alignment system, can inside factory building the moment determine itself current location, occur in factory building fire or
Person institute monitoring device label is damaged, and when can not accurately read label information, still can accurately determine that position occurs for hidden fire-fighting danger；Chassis
It is mobile use local paths planning algorithm, between institute's monitoring device use point-to-point path planning, make robot in factory
Between each equipment in room, one is found from initial point to terminal, the optimal or rational path of energy avoidance completely.
In an embodiment of the present invention, Omni-mobile chassis include four in diagonal installation omnidirectional driving wheels,
Motor with encoder, read back umber of pulse by encoder, omnidirectional's rotation is calculated in umber of pulse by robot master control
Dynamic angle and speed, so as to realize closed-loop control, the angle and speed that are rotated according to omni-directional wheel, give turning for each omni-directional wheel
Speed, the moving direction and translational speed of making a concerted effort to determine Omni-mobile chassis rotated by four omni-directional wheels.
In an embodiment of the present invention, communication module is provided with storage device, by storage device by non-emergent failure
Information is preserved, and failure is carried out in the system free time and is reported, and realizes instant messaging and delay communication.
In an embodiment of the present invention, alarm module includes local alarm module and remote-end alarm module, works as discovery
Local alarm module is blown a whistle immediately during catastrophe failure reminds Field Force's processing, and remote-end alarm module is by communication module,
Fault warning and the continual transmission of fault message to distal end responsible person and are waited pending.
In an embodiment of the present invention, vision collecting module includes ov7670 cameras, passes through iic bus communication protocols
View is connected with robot master control, passes gathered image back robot master control, and shooting picture is handled by robot master control.
In an embodiment of the present invention, temperature monitoring module includes the non-contact integrated infrared thermometric biographies of LSCI-CJG
Sensor and GY-906 infrared temperature-test sensors, two sensors are communicated by iic bus with robot master control.
A kind of flame identification method of factory building Omni-mobile fire-fighting monitoring robot disclosed by the invention, including following step
Suddenly：Robot master control receives the colour picture of vision collecting module collection, master control first to the channel separation of colour picture type 3,
Secondly passage figure is filtered, then calculates flame particular location, finally extract flame.
When calculating flame particular location, channel histogram is contrasted first, and red channel and yellow channels are multiple spot, and blueness is logical
Road is few point, thus calculates the pixel of approximate flame, then carries out contours extract, flame pixels point is analyzed, such as
The relative position of some points of fruit is close, then these points are classified as same group, other points are classified as same group, after packet is completed,
These groups are surrounded, then carry out expansion calculating, if phase mutual energy links together, you can be considered as flame.
Described above is only the preferred embodiment of the present invention, rather than its limitations；It should be pointed out that although with reference to above-mentioned each
The present invention is described in detail embodiment, it will be understood by those within the art that, it still can be to above-mentioned each
Technical scheme described in embodiment is modified, or carries out equivalent substitution to which part or all technical characteristic；And this
A little modifications and replacement, do not make the essence of corresponding technical scheme depart from the scope of various embodiments of the present invention technical scheme.
Claims (8)
- A kind of 1. factory building Omni-mobile fire-fighting monitoring robot system, it is characterised in that including：Chassis drive system, including Omni-mobile chassis form with whole audience alignment system；The Omni-mobile chassis is provided with flat The omni-directional wheel that any direction moves on face；The whole audience alignment system includes two orthogonal encoders and gyroscope, in robot It is orthogonal to give pulses travel back to robot master control installed in encoder in the moving process of chassis, for recorder people planar Transverse axis and longitudinal axis displacement；Gyroscope is used in recorder people's steering procedure the angle rotated, and is returned to robot master Control, the distance that postrotational robot is passed by by robot master control pass angle back with gyroscope and carry out computing, project to machine Among the coordinate system of people's initial launch, robot present position is drawn, realizes the whole audience positioning of robot；Vision collecting module, it is connected with robot master control, for recording equipment image and equipment surrounding environment, for safety occurs Related personnel handles hidden danger during hidden danger, there is provided accurate field condition；Temperature monitoring module, it is connected with robot master control, electrical equipment is labelled by being combined with vision collecting module It is scanned, reads facility information, and temperature detection is carried out to electrical equipment, by measurement temperature and electrical equipment rated temperature It is compared and judges its working condition；Communication module, the connection of robot master control and local PC ends is realized, for realizing that robot interacts with local PC client informations, It is engaged with vision collecting module, temperature monitoring module, the device fault information detected is sent to PC ends；Alarm modules, it is connected with robot master control, related personnel is reminded when finding that catastrophe failure alarm is blown a whistle；Remote control module, by wireless connection remote control and master control, by manual remote control to build environment map, by environmental map Store to memory, be changed into known environment, to realize automatic patrol when being again introduced into；It can be obtained simultaneously by vision collecting module Take graphic scene；Automatic charging system, including charging pile and robot itself charging electrode, charging pile is generated by whole audience alignment system to charge Stake coordinate, robot are moved to charging pile position and dock growth charging electrode with charging pile, and completion is voluntarily charged.
- 2. a kind of factory building Omni-mobile fire-fighting monitoring robot system according to claim 1, it is characterised in that described complete Include four omnidirectional driving wheels in diagonal installation, the motors with encoder to mobile chassis, read back by encoder Umber of pulse, omni-directional wheel rotational angle and speed is calculated in umber of pulse by robot master control, so as to realize closed-loop control, according to The angle and speed that omni-directional wheel rotates, the rotating speed of each omni-directional wheel is given, omnidirectional is determined with joint efforts by what four omni-directional wheels rotated The moving direction and translational speed of mobile chassis.
- 3. a kind of factory building Omni-mobile fire-fighting monitoring robot system according to claim 1, it is characterised in that described logical News module is provided with storage device, is preserved non-emergent fault message by storage device, and failure is carried out in the system free time and is reported, Realize instant messaging and delay communication.
- A kind of 4. factory building Omni-mobile fire-fighting monitoring robot system according to claim 1, it is characterised in that the report Alert module includes local alarm module and remote-end alarm module, and local alarm module, which is realized to blow a whistle, reminds Field Force, and distal end is reported Alert module to distal end responsible person and is waited fault warning and the continual transmission of fault message pending by communication module.
- 5. a kind of factory building Omni-mobile fire-fighting monitoring robot system according to claim 1, it is characterised in that described to regard Feel that acquisition module includes ov7670 cameras, be connected by iic bus communication protocol with robot master control, by gathered image biography Robot master control is returned, by robot master control processing shooting picture.
- A kind of 6. factory building Omni-mobile fire-fighting monitoring robot system according to claim 1, it is characterised in that the temperature Spending monitoring modular includes the non-contact integrated infrared temperature transducers of LSCI-CJG and GY-906 infrared temperature-test sensors, two biographies Sensor is communicated by iic bus with robot master control.
- 7. a kind of flame applied to factory building Omni-mobile fire-fighting monitoring robot as claimed in any one of claims 1 to 6 is known Other method, it is characterised in that comprise the following steps：Robot master control receives the colour picture of vision collecting module collection, master control First to the channel separation of colour picture type 3, secondly passage figure is filtered, then calculates flame particular location, finally extraction fire Flame.
- 8. a kind of flame identification method of factory building Omni-mobile fire-fighting monitoring robot according to claim 7, its feature It is, when calculating flame particular location, contrasts channel histogram first, red channel and yellow channels is multiple spot, blue channel For few point, the pixel of approximate flame is thus calculated, then carries out contours extract, flame pixels point is analyzed, if The relative position of some points is close, then these points is classified as same group, other points are classified as same group, are grouped after completing, right These groups are surrounded, and then carry out expansion calculating, if phase mutual energy links together, you can be considered as flame.
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| CN201711181482.5A CN107798812A (en) | 2017-11-23 | 2017-11-23 | A kind of factory building Omni-mobile fire-fighting monitoring robot system and method |
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Citations (4)
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|---|---|---|---|---|
| CN102419179A (en) * | 2011-12-09 | 2012-04-18 | 沈阳工业大学 | Method and device for positioning mobile robot and recording running track of mobile robot |
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-
2017
- 2017-11-23 CN CN201711181482.5A patent/CN107798812A/en active Pending
Patent Citations (4)
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|---|---|---|---|---|
| CN102419179A (en) * | 2011-12-09 | 2012-04-18 | 沈阳工业大学 | Method and device for positioning mobile robot and recording running track of mobile robot |
| CN105259899A (en) * | 2015-12-01 | 2016-01-20 | 国网重庆市电力公司电力科学研究院 | Control system for transformer substation patrol robot |
| CN206194076U (en) * | 2016-09-27 | 2017-05-24 | 国网福建省电力有限公司 | Substation equipment detecting system |
| CN207517161U (en) * | 2017-11-23 | 2018-06-19 | 太原工业学院 | A kind of workshop Omni-mobile fire-fighting monitoring robot system |
Non-Patent Citations (1)
| Title |
|---|
| 熊晓松;刘钰如;董逸君;王剑;: "基于机器视觉的火灾监测***研究", 消防科学与技术, no. 02, pages 217 - 219 * |
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Application publication date: 20180313 |