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Robot Fire Detection Method

A detection method, robot technology, applied in the field of image recognition, to achieve the effect of reducing noise, facilitating fast processing, and increasing accuracy

Inactive Publication Date: 2019-01-04
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, there is no method for using robots to detect fires in the prior art.

Method used

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Embodiment Construction

[0019] In conjunction with accompanying drawing, a kind of robot fire detection method of the present invention, concrete steps are:

[0020] Step 1. Obtain the video image of the fire detection area through the high-definition camera, and perform image preprocessing on the current frame image of the video to obtain image z1; the image preprocessing specifically uses the median filter method to filter the collected video image to remove The noise interference in the image is specifically: a 3×3 sliding window is used to process the image pixel matrix according to the following steps:

[0021] Step 1-1. Select a 3×3 window with a total of 9 pixels, and the point in the middle of the window is the current pixel;

[0022] Step 1-2, sort the values ​​of these 9 pixel points from small to large;

[0023] Step 1-3, take the value in the middle position as the value of the current pixel;

[0024] Step 1-4: Repeat step 1-1 to step 1-3 until the entire image pixel matrix is ​​process...

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Abstract

The invention discloses a robot fire detection method, comprising the following steps: 1) obtaining a video image of a fire detection area through a high-definition camera, preprocessing the video current frame image in a robot operating system to obtain an image z1; 2) perform flame region segmentation on that image z1 based on an Ohta color space and an Otsu threshold segmentation algorithm to obtain a segmented image f1; 3) subtracting the image z2 after the preprocessing of the previous frame from the image z1 of the current frame by the inter-frame difference method, and segmenting the image into moving regions to obtain a segmented image f2; 4) intersecting the obtained segmented image f1 and the segmented image f2 in the robot operating system to obtain a segmented image f3 having aflame motion characteristic; 5) carry out flame recognition on that region in the segmented image f3 base on other characteristics of the flame; 6) judging whether the flame area is great than a threshold value, and returning the final detection result of the fire. The novel robot fire detection method provided by the invention has the advantages of high accuracy and good real-time performance for identifying multiple features of the flame.

Description

technical field [0001] The invention belongs to the field of image recognition, and in particular relates to a robot fire detection method. Background technique [0002] In recent years, fire accidents have occurred more and more frequently, which not only caused huge economic losses, but also greatly endangered human personal safety. The traditional fire detection method mainly uses sensors to analyze the phenomenon of objects and the composition of chemical reaction products when a fire occurs. These detection methods are easily affected by the equipment itself, the site and the surrounding environment and cannot monitor the area in real time. Conduct fire detection. [0003] With the development of computer technology and image processing technology, robots with image processing functions have come into people's field of vision. A robot is a system integrating computer, machinery, sensing technology, information processing technology, image processing and recognition te...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00
CPCG06T7/11G06T7/136G06T7/194G06T2207/10024G06T2207/10016G06T2207/20032G06V20/42
Inventor 何文敏刘屹东徐忠文韩业华徐志鸿
Owner NANJING UNIV OF SCI & TECH
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