Research On Fire Detection And Control Of Four-rotorcraft Based On Vision

Rapid economic development has been improved the process of urbanization,and various scenes of high-rise space have been increasing day by day.With the convenience brought by it,a new problem is also encountered: the detection of fire in high-raise spaces.In recent years,cases of high-rise spaces fire have happened in China and the situation of fires in other countries has been intensified.It is of great significance to ensure the safety of human lives and properties to identify the fires in high-rise spaces.Based on the advantages of the quadrotor and machine vision theory,this paper proposes a visual quadrotor based fire detection system.While the quadrotor carries the camera into the air,and detects the fire through the obtained image information.The machine vision partially simulation control The aircraft detected fire with orbiting around importent areas.The main contents of this paper include:1.The background and meaning of this reasearch were explained.First,the origin and purpose of the subject were introducted.And then the status quo of development of the visual quadrotor aircrafts detectited fire at home and abroad were expounded.Finaly,the main contents of this paper was briefly introduced.2.Fire detection quadrotor system was designed.The overall design of the fire detection aircraft system was studied.The function and composition of the fire detection aircraft system were introduced.The working principle and working process of the aircraft were introduced.Through referencing to the existing model parameters,the dynamic model of the aircraft was studied,which laied the theoretical foundation for the visual control.3.The image features of fire were anlysised.This chapter proposed improved Vibe algorithm and watershed algorithm to extract moving target algorithm,and proved that the improved algorithm has obvious effect on fire detection.Two parts of flame and smoke in fire detection were introduced in the research.Finaly two detection algorithm detection process were designed.4.Visual control part of the research was presentated.Considering the orbiting of the fire-fighting area,quadrotor were required to frquently circle around the area,firstly.Based on the corner detection feature registration and homography maneuver,the simulation of the simple aircraft control was studied.Finaly,the visual control about circling around Simulink simulation was model.5.The experiment related contents were introduced.The flight experiment of quadrotor was completed.And then the flight principle of quadrotor was proved.The fire test provided a basis for further research,which proved the effectiveness and stability of fire detection algorithm.