Research On Automatic Orientation Of Fire-fighting Monitor Based On Image Processing

Automatic orientating fire-fighting monitor system is an effective means for the extinguishment of fire in large space. However, the existing automatic orientating method can't put out the fire accurately for it is easily affected by the changes in external conditions, especially the wind outdoors. Therefore, the study on automatic orientating method applying to field fire has strong practical significance and practical value. In this thesis, a dynamic orientating method of fire-fighting monitor is proposed to achieve the best extinguishing effect by adjusting fire-fighting monitor's angle according to the relative position of fire and water jet's endpoint which we obtain from the water jet image's real-time processing.On the technology of water jet image recognition, a whole recognition algorithm including the initial water jet recognition and the following water jet recognition is proposed according to our system's characteristics. First, background subtraction method is used to detect the initial water jet, in which an improved OTSU method is proposed for the segmentation of water jet's difference image. The experimental results show that this improved OTSU method can gain more complete water jet region and improve the efficiency effectively compared with the classical algorithm. According to the shape characteristics of water jet region, the true water jet and its endpoint are identified. On the basis of the initial water jet recognition, the template matching method is used to find the starting of water jet, and then the follow-up water jet trajectory can be recognised by the one-direction searching method we propose. For the intermittent water jet, curve fitting method is used to predict the position of water jet, then the complete water jet can be extracted and its endpoint can be found exactly.For controlling the fire-fighting monitor, we study on the correspondence between the fire-fighting monitor's direction of rotation and the relative position of water jet's endpoint and fire in the same image, and then propose a coarse-to-fine angle adjustment method to ensure the speed and accuracy of the fire-fighting monitor's automatic orientation.The automatic orientation system of fire-fighting monitor is developed based on Delphi 7SE, and a large number of experiments are carried out on the experiment platform. The experimental results show that this method overcomes the impact of water pressure changes, wind and other factors by judging the extinguishing effect dynamicly, and has higher accuracy and real-time.