Research On Automatic Control System Of Fire-Fighting Robot Based On Infrared Thermography

The self-propelled and intelligent positing fire water gun is a kind of fire-fighting robot which can replace firefighters to extinguish fire and cool down in petrochemical engineering sites that are dangerous and explosive.At present,the mainstream control mode of the fire-fighting robot is manual remote control and of low degree of automation.With the advent of technology,the concept of intelligence has been deeply applied to every industry,and the control mode of fire-fighting robot is developing towards intelligence.The paper researches on the automatic control system of the fire-fighting robot in order to design a linked control system of fire water gun and track chassis based on computer vision technique.According to the technical requirements of the project,the paper completes the overall design of the automatic control system including appropriate hardware platform and software platform.In order to realize the automatic identification of fires in all-weather outdoor space,an algorithm based on infrared thermal image is designed.Firstly,the paper chooses temperature characteristic as pre-judgment,and uses an image segmentation algorithm combined with the region growing and the Otsu to effectively segment the high temperature region.Then,the paper innovatively extracts those equivalent elliptical features of the region,and normalizes the equivalent elliptical features of six consecutive infrared thermal images and sends them to the trained support vector machine model for fire determination.In order to realize the automatic search and tracke of fire source,the paper designs a bottom-up inspection algorithm for the PTZ.Further combined with the irregular movement speed of the PTZ,a tracking algorithm based on image region division is designed for the PTZ.The PTZ control algorithm based on visual can drive the thermal imager to quickly find the fire source within the search range,and keep the fire source in the center of the image.In order to realize the linked control of water gun and track chassis,the paper completes the communication protocol between PC and PLC,the coordinate transformation between PTZ and fire water gun,and the coordinate transformation between PTZ and fire-fighting robot.At last,according to the actual situation,the paper effectively realizes the linked control of water gun and track chassis.The paper designs a control software by Winform framework and multi-thread,and carries out some experiments to verify the feasibility of each part.The results show that the functions of each part meet the project requirements,which provides basis for the subsequent promotion of whole project.