基于视频的消防水炮闭环控制技术研究

发布时间：2018-02-22 15:11

本文关键词： 消防水炮闭环控制暗原色先验运动目标检测摄像机标定　出处：《大连海事大学》2017年硕士论文　论文类型：学位论文

【摘要】：消防水炮自动定位灭火技术是一种扑灭大空间场所火灾的有效方法。然而现阶段的自动定位消防水炮大多都是使用的开环控制技术,因为水压、风力或者其他因素的影响,消防水炮的落地点容易发生偏移,无法准确地命中火源点来消除火灾。而基于视频的消防水炮闭环控制技术能根据落水点与火源点之间的偏差,自动地调整消防水炮的角度,来达到自动准确灭火的目的。本文以大空间智能消防灭火系统为应用背景,对基于视频的消防水炮闭环控制算法进行了深入研究。本文提出的基于视频的消防水炮闭环控制算法,首先对射流曲线进行提取,然后根据射流末端的颜色特性计算出落水点,最后根据消防水炮的物理模型调整水炮的俯仰角和水平回转角,实现消防水炮的闭环控制。由于射流末端的散射现象非常明显,已经严重影响了射流区域的提取,本文提出了一种能有效克服这种现象的算法:首先利用暗原色先验提取出射流的透射率图像并二值化,然后利用基于混合高斯模型的背景减除法获得运动区域,最后通过匹配得到射流区域。本文提出了了一种能够比较准确地检测到射流落地点的算法。首先单向搜索得到射流轨迹的目标点,然后用最小二乘法对它们进行曲线拟合并得到射流末端区域,最后根据射流末端的颜色特性利用朴素贝叶斯分类器训练得到射流落地点。本文提出了一种可以精确控制消防水炮俯仰角的算法。首先通过标定得到摄像机的参数,将射流落地点、射流起始点以及火源点投影到世界坐标系;然后对消防水炮的物理模型进行仿真,得到射流轨迹的俯仰角与水炮射程之间的映射关系;最后提出对消防水炮的俯仰角与水平回转角的闭环控制方案。实验结果表明,本文提出的算法可以有效克服射流末端散射的干扰、并且可以克服大量与射流无关的运动目标的干扰。即便射流区域有部分缺失,也不会影响本文算法的检测效果。本文算法识别射流落地点的准确率高。尽管本文算法时间复杂度较高,但是通过每隔几帧处理一帧的方法,既对准确率没有影响,又可以满足实时性的要求,最终实现了对消防水炮灭火过程的精确控制。
[Abstract]:Automatic positioning and extinguishing fire by fire water cannon is an effective method for extinguishing fires in large space. However, at this stage, most of the automatic positioning fire water cannons are open-loop control techniques, because of the influence of water pressure, wind force or other factors. The location of the fire water gun is prone to shift, and it is impossible to accurately hit the fire source to eliminate the fire. However, the closed-loop control technology based on video can automatically adjust the angle of the fire water gun according to the deviation between the falling point and the fire source point. To achieve the purpose of automatic and accurate fire extinguishing. This paper takes the large space intelligent fire extinguishing system as the application background, The closed loop control algorithm of fire water gun based on video is studied in this paper. Firstly, the jet curve is extracted, then the falling point is calculated according to the color characteristics of the end of the jet. Finally, according to the physical model of the fire water gun, the pitch angle and horizontal rotation angle of the water gun are adjusted to realize the closed-loop control of the fire water gun. Because the scattering phenomenon at the end of the jet is very obvious, it has seriously affected the extraction of the jet region. In this paper, an algorithm is proposed to overcome this phenomenon: firstly, the transmittance image of jet is extracted and binary by a dark priori, and then the moving region is obtained by background subtraction based on mixed Gao Si model. Finally, the jet region is obtained by matching. In this paper, an algorithm is proposed to detect the jet drop location more accurately. Firstly, the target point of jet trajectory is obtained by unidirectional searching. Then the end region of the jet is obtained by combining the curves with the least square method. Finally, according to the color characteristics of the end of the jet, the authors use naive Bayes classifier to train the jet drop point. In this paper, an algorithm is proposed to accurately control the pitch angle of the fire water gun. First, the camera parameters are obtained by calibration. The location of jet falling, the starting point of jet and the point of fire source are projected into the world coordinate system, then the physical model of fire water gun is simulated, and the mapping relationship between the pitch angle of jet trajectory and the range of water gun is obtained. Finally, a closed loop control scheme for pitch angle and horizontal rotation angle of fire water gun is proposed. The experimental results show that the proposed algorithm can effectively overcome the interference of jet end scattering. And it can overcome the interference of a large number of moving targets unrelated to the jet, even if the jet region is partially missing, The accuracy of the algorithm is high. Although the time complexity of this algorithm is high, the method of processing frames every few frames has no effect on the accuracy. It can meet the requirement of real-time, and finally realize the accurate control of fire extinguishing process of fire water gun.
【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TU892

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