An infrared image-based feedback control system for intelligent fire monitor was proposed in this paper, whose aims are to realize automatic aiming of the fire site and continuous fire tracking in the process of fire extinguishing through adjusting of the yaw angle of the fire monitor. Firstly, infrared camera was used to capture images of the fire site, and under high temperatures, the fire would be easily observed. An improved adaptive image threshold segmentation scheme was developed for image background segmentation and fire acquisition. The fire region in the captured image was considered as region of interest (ROI) and the geometric center of which was calculated. Due to the special advantageous structural design of the proposed system, the geometric center of ROI representing the actual fire was considered as the direction which the fire monitor should aim at. Furthermore, a fuzzy control scheme simulating the operating mode of firefighters was proposed, and the ROI center position deviation and deviation rate were considered as inputs of the control system. Experimental results show that, after the fire was detected by the system, the fire monitor could be yawed to the direction of the fire within 2000 ms, and the deviation of image position is less than 1.6 pixels. Similarly, the proposed system could be well adapted to the changing position of the fire caused by combustion. And after no more than image iteration of three frames, the controller realizes aiming of the fire by the fire monitor, and the final deviation is less than 0.1 pixels. In general, the proposed infrared image feedback control system for fire horizontal position aiming of intelligent fire monitor has great potential for intelligent fire extinguishing by fire-fighting robots.

中文翻译：

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基于红外图像反馈控制的消防机器人智能火灾监控器

本文提出了一种基于红外图像的智能火灾监控器反馈控制系统，其目的是通过调整火灾监控器的偏航角来实现火灾现场的自动瞄准和灭火过程中的连续火灾跟踪。首先，使用红外摄像机拍摄火灾现场的图像，在高温下，可以很容易地观察到火灾。一种改进的自适应图像阈值分割方案被开发用于图像背景分割和火灾采集。捕获图像中的火灾区域被视为感兴趣区域（ROI）并计算其几何中心。由于所提出系统的特殊优势结构设计，代表实际火灾的ROI的几何中心被认为是火灾监视器应该瞄准的方向。此外，提出了一种模拟消防员工作模式的模糊控制方案，将ROI中心位置偏差和偏差率作为控制系统的输入。实验结果表明，系统检测到火灾后，火灾监视器可以在2000 ms内向火灾方向偏航，图像位置偏差小于1.6像素。同样，所提出的系统可以很好地适应由燃烧引起的火灾位置的变化。并且经过不超过三帧图像迭代后，控制器通过消防监视器实现对火的瞄准，最终偏差小于0.1个像素。一般来说，