Research And Development Of Fire Alarm Robot

Fire is the most frequent man-made disaster in modern society,seriously threatening the safety of human life and property.High-risk fire places such as logistics warehouses and factories have the characteristics of large area,complex building structure,more operating equipment,high safety risk and storage of a large number of flammable materials.Early burning fires are not easy to find,but fires in the growth stage Fighting is difficult.Once a fire occurs in warehouses and factories,it will cause heavy casualties and property losses.Therefore,it is particularly important to carry out fire warning for key fire prevention and control sites.The traditional fire detection mainly depends on the fire detector installed in a fixed position and video monitoring.Because there are a large number of aisles and rooms in the building,the monitoring blind area is easy to appear,which reduces the effectiveness of fire early warning system.In order to solve the problem of fire monitoring dead angle,this paper proposes a fire early warning robot,By carrying fire detection equipment on the mobile platform,patrol in the detection blind area,expand the detection range of the monitoring system,and improve the fire warning ability.According to the patrol environment and monitoring requirements of the actual place,the fire warning robot is designed as a whole,and the fire detection system carried on the mobile platform is proposed.The combination of video smoke detection technology and multi-sensor fire detection technology is used to effectively reduce the occurrence of fire missing report.The road conditions of the robot application scenarios are relatively good,and there is the demand for long-distance patrol,so the wheeled mobile platform with high mobile efficiency is adopted.At the same time,in order to ensure the stable and reliable operation of the chassis system,the steering mechanism is cancelled,and the steering is realized through the wheel differential.The dynamics analysis of the four-wheel drive chassis is also carried out to verify its feasibility.The fire detection system of robot adopts video detection technology and sensor detection technology.These two technologies have different detection range,which can broaden the fire detection range at the same time.Video fire detection technology has two mainstream detection schemes,one is based on LBP(local binary pattern)feature SVM(support vector machine)to identify smoke,and the other is based on yolov3(you only live once)algorithm to detect smoke.Smoke image has rich feature information.LBP algorithm is used to extract image features,and then SVM classifier is trained,Secondly,use yolv3 to detect smoke,make smoke data set and train network model,test and compare the accuracy of smoke recognition between yolv3 and yolv3 tiny,select yolv3 tiny algorithm as the scheme of robot video smoke detection,and transplant the algorithm to the development board.Secondly,the technology of fire detection by sensors is studied to absorb the disadvantages of single physical quantity detected by traditional detectors,and the multi-sensor joint detection system is proposed to improve the detection accuracy and reduce the possibility of false alarm.The control system of the robot is designed to realize the efficient operation of the various modules of the robot under the unified scheduling of the control system.The system can be designed in two parts.The function of the upper computer part is to show users the information uploaded by the lower computer and provide information to the robot.Control function,in order to facilitate multi-platform operation,the upper computer system is designed as a web page mode,and the role of the lower computer is to execute the control instructions of the upper computer and collect and upload sensor information.After the completion of the theoretical design,a fire warning robot prototype is made for actual test to verify the rationality of the theoretical design.Two tests are carried out on the prototype.The mobile performance of the robot is tested,including the completion of the basic operation mode,the ability to pass through obstacles,the ability to turn in place and the maximum climbing slope.The key test is the ability of fire detection.Two kinds of detection modes are tested in indoor and outdoor environments respectively.Through these two aspects of tests,it is verified that the fire warning robot meets the design requirements and can be applied to the actual fire detection work.