CN111596653A - Fire-fighting robot, control method thereof and electronic equipment - Google Patents
Fire-fighting robot, control method thereof and electronic equipment Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention provides a fire-fighting robot, a control method thereof and electronic equipment, wherein the method comprises the following steps: judging whether the fire-fighting robot is in an abnormal motion state or not based on the attitude data of the fire-fighting robot; when the fire-fighting robot is in a normal motion state, controlling the fire-fighting robot to stably run; and when the fire-fighting robot is in an abnormal motion state, controlling the fire-fighting robot to rapidly accelerate to a preset maximum speed or rapidly decelerate to stop. This scheme can control fire-fighting robot rapid acceleration or rapid deceleration when fire-fighting robot is in the abnormal motion state such as toppling, the car that overturns to make fire-fighting robot can realize the correction of gesture under self balance system's the auxiliary action and inertial dual function, and then can resume normal motion state from abnormal motion state, just so make fire-fighting robot can continue to control and walk according to normal gesture, and then ensure that fire-fighting robot can carry out the site detection smoothly, and ensure the site detection picture angle.
Description
Technical Field
Embodiments of the present disclosure relate generally to the field of fire fighting robots, and more particularly, to a fire fighting robot, a control method thereof, an electronic device, and a computer-readable storage medium.
Background
With the development of intelligent robot technology, more and more intelligent robots are applied to the fire emergency rescue industry to replace fire fighters to finish some dangerous on-site detection rescue work. Because the fire scene environment is special, some fire scene personnel or heavy fire-fighting robots can not directly enter the scene, at this time, some light fire-fighting detection robots are required to be thrown to the fire scene to detect the scene environment in the fire scene, but most light fire-fighting robots are of a two-wheel structure, the posture after being thrown to the ground is random, the light fire-fighting detection robots do not fall to the ground to keep the vertical posture of the vehicle body, the fire scene environment is complex, the number of obstacles is large, the abnormal motion postures such as overturning, overturning and the like can easily occur in the falling and moving processes of the robots, so that the control and walking of the robots are difficult, and once the robots overturn, the scene detection picture angle of the robot trolley can be changed, and even the trolley can not be controlled and moved continuously.
Therefore, how to design a scheme which can enable the fire-fighting robot to automatically adjust from an abnormal motion posture to a normal motion posture after the fire-fighting robot falls to the ground or overturns for some reason in the walking process becomes a technical problem to be solved urgently at present.
Disclosure of Invention
The present invention is directed to solving one or more of the problems set forth above.
In order to solve the above problems, a first aspect of the present invention provides a method for controlling a fire-fighting robot.
The invention provides a fire-fighting robot in a second aspect.
A third aspect of the invention provides an electronic device.
A fourth aspect of the invention is directed to a computer-readable storage medium.
An embodiment of a first aspect of the present invention provides a control method of a fire fighting robot, including:
judging whether the fire-fighting robot is in an abnormal motion state or not based on the attitude data of the fire-fighting robot;
when the fire-fighting robot is in a normal motion state, controlling the fire-fighting robot to stably run;
and when the fire-fighting robot is in an abnormal motion state, controlling the fire-fighting robot to rapidly accelerate to a preset maximum speed or rapidly decelerate to stop.
In the above technical solution, preferably, when the fire-fighting robot is in an abnormal motion state, the fire-fighting robot is controlled to rapidly decelerate to a stop and then rapidly accelerate to a preset maximum speed.
In another scheme, when the fire-fighting robot is in an abnormal motion state, the fire-fighting robot is controlled to rapidly accelerate to a preset maximum speed and then rapidly decelerate to stop.
In any of the above technical solutions, preferably, the controlling the stable operation of the fire-fighting robot includes controlling the fire-fighting robot to operate at a constant speed and controlling the fire-fighting robot to operate at an accelerated speed or a decelerated speed, calculating a set speed of a driving motor of the fire-fighting robot at preset time intervals according to formula 1, and setting the speed of the driving motor according to the calculated set speed until the calculated set speed is greater than or equal to a target speed VEyes of a userWhen the calculated set speed is equal to or higher than the target speed VEyes of a userIn time, the speed of the driving motor is directly set as the target speed, and formula 1 is:
Vn is arranged＝a×VEyes of a user+(1-a)×V(n-1) is；
Wherein, Vn is arrangedIndicates the nth set speed, V(n-1) isRepresents the set speed of the n-1 st time, n isA positive integer of 1 or more, a is an inertia coefficient, a is 0 or more and 1 or less, V0 is provided withIs the actual speed of the driving motor during pre-acceleration or pre-deceleration.
Further preferably, the step of controlling the fire fighting robot to sharply decelerate to a stop includes: target speed V of driving motorEyes of a userSetting the value of the inertia coefficient a in the formula 1 as a maximum value until the driving motor stops running; wherein, a plurality of a values with different sizes are prestored in the fire-fighting robot.
Further preferably, the step of controlling the fire fighting robot to accelerate to the preset maximum speed comprises: setting a target speed V of the driving motorEyes of a userThe speed is set to a preset maximum speed until the speed of the driving motor reaches the preset maximum speed.
In any one of the above technical solutions, preferably, the step of determining whether the fire-fighting robot is in an abnormal motion state based on the attitude data of the fire-fighting robot includes:
reading attitude original data of a gyroscope on the fire-fighting robot;
converting the read attitude original data of the gyroscope into yaw angle data, pitch angle data and roll angle data of the fire-fighting robot;
carrying out low-pass filtering processing on the yaw angle data, pitch angle data and roll angle data of the fire-fighting robot;
and comparing the yaw angle data, pitch angle data and roll angle after low-pass filtering with standard data, and judging whether the fire-fighting robot is in an abnormal motion state according to a comparison result.
In any one of the above technical solutions, preferably, the step of determining whether the fire-fighting robot is in an abnormal motion state based on the attitude data of the fire-fighting robot includes:
updating the attitude data of the fire-fighting robot in real time, and judging whether the fire-fighting robot is in an abnormal motion state in real time based on the attitude data of the fire-fighting robot; or
Updating the attitude data of the fire-fighting robot at preset intervals, and judging whether the fire-fighting robot is in an abnormal motion state at preset intervals based on the acquired attitude data.
In any of the above technical solutions, preferably, the preset time is greater than or equal to 80ms and less than or equal to 120 ms. Preferably, the attitude data of the fire-fighting robot is updated every 100ms, and it is determined whether the fire-fighting robot is in an abnormal motion state every 100ms based on the acquired attitude data.
An embodiment of a second aspect of the present invention provides a fire fighting robot comprising:
the robot comprises a robot main body, wherein a control device is arranged in the robot main body, the control device comprises a memory and a processor, a computer program is stored in the memory, and the processor realizes the method provided by any embodiment of the first aspect of the invention when executing the program;
the tail-rod structure, the one end of tail-rod structure is connected to the middle part position of robot main part rear side, the other end of tail-rod structure is to keeping away from the direction of robot main part extends, just the tip of the other end of tail-rod structure is provided with the counter weight structure, the focus of tail-rod structure is located the counter weight is structural.
Further preferably, the weight structure has a triangular shape, and one of three corners of the weight structure is used for contacting with the ground for supporting the robot main body.
Further preferably, the fire fighting robot is a two-wheeled robot.
An embodiment of the third aspect of the present invention provides an electronic device, including a memory and a processor, where the memory stores a computer program thereon, and the processor implements the method provided in any embodiment of the first aspect of the present invention when executing the program.
An embodiment of a fourth aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the method provided by any of the embodiments of the first aspect of the present invention.
According to the control method of the fire-fighting robot provided by the embodiment of the invention, in the process of throwing, landing or moving of the fire-fighting robot, whether the fire-fighting robot is in an abnormal moving state or not can be judged according to the detected attitude data of the fire-fighting robot, if the fire-fighting robot is in an abnormal moving state such as overturning, overturning and the like, the fire-fighting robot is controlled to be rapidly accelerated or rapidly decelerated so as to cause the robot to rush, so that the fire-fighting robot can be forwards tilted or backwards tilted by utilizing the inertia of the fire-fighting robot, the fire-fighting robot can realize the correction of the attitude under the auxiliary action of a self-balancing system and the dual action of the inertia, the aim of recovering the attitude of the fire-fighting robot from the abnormal moving state to the normal moving state is fulfilled, and the situation that the fire-fighting robot overturns and falls due to some reason in the process of throwing, landing or moving can be ensured, When the robot is in a normal motion state, such as a rollover, the robot can be timely and automatically adjusted to a normal motion attitude from an abnormal motion attitude, so that the fire-fighting robot can keep a normal motion attitude and a working state, the fire-fighting robot can continue to control and walk according to the normal attitude, the fire-fighting robot can be further ensured to be capable of smoothly detecting, and the fire-fighting robot can be ensured to detect the scene detection picture angle in the detection process. Therefore, the technical problem that the existing fire-fighting robot is difficult to control and walk because the existing fire-fighting robot easily overturns and overturns when being thrown to the ground and running is solved.
Specifically, in the application, the inertia of the fire-fighting robot can be increased by changing the set speed of the driving motor and the value of the inertia coefficient a, so that the fire-fighting robot can automatically return to a normal running state after overturning or overturning occurs.
It should be understood that what is described in this disclosure section is not intended to limit key or critical features of embodiments of the invention nor is it intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, like or similar reference characters designate like or similar elements, and wherein:
fig. 1 shows a flow chart of a control method of a fire fighting robot provided by an embodiment of the present disclosure;
FIG. 2 shows a diagram of the results of the speed of the drive motor under two different processes;
fig. 3 shows a flowchart of a specific step of S102 in fig. 1;
fig. 4 shows a schematic structural diagram of a fire fighting robot provided by an embodiment of the present disclosure;
fig. 5 shows another schematic structural diagram of a fire fighting robot provided by an embodiment of the present disclosure;
fig. 6 shows a structural schematic block diagram of a robot main body of a fire fighting robot provided by an embodiment of the present disclosure;
fig. 7 is a flowchart illustrating a control method of the fire fighting robot according to an embodiment;
fig. 8 shows a block diagram of an electronic device provided by an embodiment of the invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
As shown in fig. 1, an embodiment of a first aspect of the present invention provides a control method of a fire fighting robot, including:
s102, judging whether the fire-fighting robot is in an abnormal motion state or not based on the attitude data of the fire-fighting robot;
s104, controlling the fire-fighting robot to stably run when the fire-fighting robot is in a normal motion state;
and S106, when the fire-fighting robot is in an abnormal motion state, controlling the fire-fighting robot to rapidly accelerate to a preset maximum speed or rapidly decelerate to stop.
According to the control method of the fire-fighting robot provided by the embodiment of the invention, in the process of throwing, landing or moving of the fire-fighting robot, whether the fire-fighting robot is in an abnormal moving state or not can be judged according to the detected attitude data of the fire-fighting robot, if the fire-fighting robot is in an abnormal moving state such as overturning, overturning and the like, the fire-fighting robot is controlled to be rapidly accelerated or rapidly decelerated so as to cause the robot to rush, so that the fire-fighting robot can be forwards tilted or backwards tilted by utilizing the inertia of the fire-fighting robot, the fire-fighting robot can realize the correction of the attitude under the auxiliary action of a self-balancing system and the dual action of the inertia, the aim of recovering the attitude of the fire-fighting robot from the abnormal moving state to the normal moving state is fulfilled, and the situation that the fire-fighting robot overturns and falls due to some reason in the process of throwing, landing or moving can be ensured, When the robot is in a normal motion state, such as a rollover, the robot can be timely and automatically adjusted to a normal motion attitude from an abnormal motion attitude, so that the fire-fighting robot can keep a normal motion attitude and a working state, the fire-fighting robot can continue to control and walk according to the normal attitude, the fire-fighting robot can be further ensured to be capable of smoothly detecting, and the fire-fighting robot can be ensured to detect the scene detection picture angle in the detection process. Therefore, the technical problem that the existing fire-fighting robot is difficult to control and walk because the existing fire-fighting robot easily overturns and overturns when being thrown to the ground and running is solved.
In the above technical solution, preferably, when the fire-fighting robot is in an abnormal motion state, the fire-fighting robot is controlled to rapidly decelerate to a stop and then rapidly accelerate to a preset maximum speed.
In this embodiment, because the counterweight structure of the fire-fighting robot is generally arranged at the tail, when the fire-fighting robot overturns or overturns, the fire-fighting robot can be rapidly decelerated to stop, so that the fire-fighting robot can rush forwards under the action of inertia, and at the moment, the counterweight structure at the tail of the fire-fighting robot can balance the fire-fighting robot under the action of forward-leaning inertia force and the gravity of the counterweight structure, so that the fire-fighting robot can recover to a normal operation posture. And then, the speed is sharply increased to a preset maximum speed so that the fire-fighting robot can sharply lean backwards, and the posture of the fire-fighting robot can be further corrected. And when the fire-fighting robot recovers to a normal operation state through violent deceleration, if the fire-fighting robot is accelerated violently, the fire-fighting robot keeps balance of the fire-fighting robot under the action of the counterweight structure at the tail part, and the fire-fighting robot is prevented from overturning or overturning due to the fact that the fire-fighting robot rushes again. Of course, in other embodiments, the rapid rush may be accelerated first and then the rapid deceleration may be performed according to the actual structure of the fire-fighting robot.
The maximum speed is preset in the application, and the maximum speed is the maximum upper limit speed which can be realized by the fire-fighting robot, or the maximum speed is a value which is relatively close to the maximum upper limit speed which can be realized by the fire-fighting robot.
In any of the above technical solutions, preferably, the controlling the stable operation of the fire-fighting robot includes controlling the fire-fighting robot to operate at a constant speed and controlling the fire-fighting robot to operate at an accelerated speed or a decelerated speed, calculating a set speed of a driving motor of the fire-fighting robot at preset time intervals according to formula 1, and setting the speed of the driving motor according to the calculated set speed until the calculated set speed is greater than or equal to a target speed VEyes of a userWhen the calculated set speed is equal to or higher than the target speed VEyes of a userIn time, the speed of the driving motor is directly set as the target speed, and formula 1 is:
Vn is arranged＝a×VEyes of a user+(1-a)×V(n-1) is；
Wherein, Vn is arrangedIndicates the nth set speed, V(n-1) isRepresents the set speed of the (n-1) th time, n is a positive integer greater than or equal to 1, a is an inertia coefficient, a is greater than or equal to 0 and less than or equal to 1, V0 is provided withFor pre-accelerating or pre-decelerating the drive motorSpeed.
In the embodiment, the fire-fighting robot runs stably and comprises an acceleration and deceleration stage and a constant speed stage, when the fire-fighting robot needs to accelerate and decelerate, since the acceleration and deceleration of the fire-fighting robot are controlled by controlling the speed of the driving motor, therefore, in order to ensure that the behaviors of overturning or overturning of the fire-fighting robot caused by rapid acceleration, rapid deceleration and the like do not occur when the fire-fighting robot runs normally and stably, the application provides a novel method for controlling the speed of the motor, the method mainly divides the acceleration or deceleration process of the motor into a plurality of acceleration processes or a plurality of deceleration processes, for example, when the drive motor needs to accelerate from 0 to 5v, 5v is divided into 5 portions, so that the motor can distribute the acceleration step by step, such as from 0 to v1, then accelerated from v1 to v2, then accelerated to v3, v4, and up to v 5. In the mode, the speed of the motor is accelerated or decelerated step by step instead of being accelerated or decelerated rapidly at one time, so that the fire-fighting robot is not easy to rush forwards or backwards when being decelerated or accelerated, the acceleration and deceleration of the fire-fighting robot can be carried out smoothly, the speed of the fire-fighting robot can be transited smoothly, and the phenomena of overturning or overturning and the like of the fire-fighting robot in the acceleration and deceleration process are avoided. Specifically, in order to accelerate the driving motor step by step, the speed of the driving motor needs to be set for a plurality of times, and the speed set for each time can be calculated according to the above formula 1.
Fig. 2 shows a change curve of the speed of the driving motor (curve 2 in fig. 2) when the set speed of the driving motor is set step by step, and as can be seen from fig. 2, the speed of the driving motor can be relatively smoothly accelerated from 0m/s to 0.5m/s and also can be relatively smoothly decelerated from 0.5m/s to 0 m/s. While the curve 1 in fig. 2 is a speed change curve in which the speed of the driving motor is set to a desired speed at one time, it can be seen from the curve 1 that the speed of the driving motor is accelerated from 0m/s to 0.5m/s in a very short time and is directly decelerated from 0.5m/s to 0m/s in a very short time, so that the speed of the driving motor is changed very sharply, and the speed of the fire fighting robot is rapidly changed, thereby easily causing the fire fighting robot to overturn or overturn. And this application sets for driving motor's speed through the segmentation and makes fire-fighting robot can accelerate or slow down steadily, has just so reduced the probability that fire-fighting robot takes place to overturn or topple.
In fig. 2, the time period from 0.5s to 2s is taken as an example to describe the calculation process of the set speed of the driving motor, and in fig. 2, before the set speed, the speed of the driving motor is 0m/s, the target speed is 0.5m/s, and it is assumed that a is equal to 0.5, so V in the formula0 is provided withEqual to 0m/s, VEyes of a user0.5m/s, then:
V1 is provided with＝0.5a＝0.25m/s；V2 is provided with＝0.5a+(1-a)×0.25＝0.375m/s；
V3 is provided with＝0.5a+(1-a)×0.375＝0.4375m/s；
V3 is provided with＝0.5a+(1-a)×0.4375＝0.46875m/s；
V4 is provided with＝0.5a+(1-a)×0.46875＝0.484375m/s；
V5 is provided withThe speed of the driving motor is set to be 0.5m/s or more and is directly set to be 0.5m/s and subsequent setting is stopped when the set speed of the driving motor is calculated to be more than or equal to 0.5m/s, so that the speed of the driving motor is smoothly transited from 0m/s to 0.5m/s through the multiple setting, the speed of the fire-fighting robot is prevented from being changed violently, the stability of the fire-fighting robot is ensured, and the probability of overturning or overturning of the fire-fighting robot due to the speed change is greatly reduced.
Further preferably, the step of controlling the fire fighting robot to sharply decelerate to a stop includes: target speed V of driving motorEyes of a userThe value of the inertia coefficient a in equation 1 is set to 0, and is set to a maximum value until the driving motor stops operating.
In this embodiment, when the acceleration and deceleration of the fire-fighting robot is set by the speed of the driving motor in stages, the size of the speed buffer may be adjusted by adjusting the value of the inertia coefficient a in the above formula 1 to increase the inertia of the car when the car is suddenly accelerated or decelerated, thereby realizing the sudden deceleration of the fire-fighting robot, specifically, a may be set to three or four selectable values of different sizes in advance, and when the effect of the sudden acceleration or the sudden deceleration needs to be realized, the value of a may be set to a maximum value, for example, to a value relatively close to 1, to increase the inertia of the car when the car is suddenly decelerated, and the target speed is set to 0, so that the speed of the driving motor is decelerated from the current speed to 0, thereby enabling the fire-fighting robot to be quickly decelerated to a stop. The maximum value is the maximum value among a plurality of different values a, and the plurality of different values a can be selected according to actual needs, but the maximum value is preferably a value closer to 1.
Further preferably, the step of controlling the fire fighting robot to accelerate to the preset maximum speed comprises: setting a target speed V of the driving motorEyes of a userThe speed is set to a preset maximum speed until the speed of the driving motor reaches the preset maximum speed.
In this embodiment, when the acceleration and deceleration of the fire-fighting robot are set by the speed of the driving motor in stages, the fire-fighting robot is relatively stable during normal acceleration, but in view of the fact that when the fire-fighting robot overturns or overturns, the attitude of the fire-fighting robot needs to be restored to normal by the jerk generated by inertia, the speed of the driving motor is not set in stages, but the set speed of the driving motor is directly set to the preset maximum speed, so that the driving motor can be rapidly accelerated to the preset maximum speed in a short time, and the attitude of the fire-fighting robot can be restored to normal due to inertia during jerk acceleration. Further preferably, in this process, the value of a may also be set to a maximum value. Of course, the value of a may also be set to a non-maximum value.
In any of the above solutions, as shown in fig. 3, S102 preferably includes:
s1022, reading attitude original data of a gyroscope on the fire-fighting robot;
s1024, converting the read attitude original data of the gyroscope into yaw angle data, pitch angle data and roll angle data of the fire-fighting robot;
s1026, carrying out low-pass filtering processing on the yaw angle data, the pitch angle data and the roll angle data of the fire-fighting robot;
s1028, comparing the yaw angle data, the pitch angle data and the roll angle after low-pass filtering with standard data, and judging whether the fire-fighting robot is in an abnormal motion state or not according to a comparison result.
In the embodiments, a plurality of gyroscopes can be arranged on the fire-fighting robot to detect the self-attitude of the fire-fighting robot, and meanwhile, an IIC interface can be arranged on the fire-fighting robot to output the raw data such as yaw angle, pitch angle, roll angle and the like detected by the gyroscopes, and the three angles are preferably updated once every 100ms, so that time guarantee is provided for real-time judgment and attitude recovery of the fire-fighting robot. When the situation that whether the attitude of the fire-fighting robot overturns or not needs to be judged, the original attitude data of the gyroscope can be read in real time or periodically through a control program of the fire-fighting robot, but the original data cannot be used directly, so that the yaw angle, the pitch angle and the roll angle of the fire-fighting robot can be obtained after conversion by methods such as four-element calculation and the like, low-pass filtering is carried out on the angle data to obtain final accurate and stable data, the attitude of the trolley is judged according to the data, and particularly the accurate and stable data can be compared with standard data to judge whether the fire-fighting robot is in a normal operation state or not.
In any one of the above technical solutions, preferably, the step of determining whether the fire-fighting robot is in an abnormal motion state based on the attitude data of the fire-fighting robot includes:
updating the attitude data of the fire-fighting robot in real time, and judging whether the fire-fighting robot is in an abnormal motion state in real time based on the attitude data of the fire-fighting robot; or
Updating the attitude data of the fire-fighting robot at preset intervals, and judging whether the fire-fighting robot is in an abnormal motion state at preset intervals based on the acquired attitude data.
In this embodiment, it is preferable to update the attitude data of the fire-fighting robot in real time, which provides time support for real-time determination and attitude recovery of the attitude of the fire-fighting robot. Of course, to reduce the workload of the fire fighting robot, the attitude data of the fire fighting robot may also be periodically monitored and updated.
In any of the above technical solutions, preferably, the preset time is greater than or equal to 80ms and less than or equal to 120 ms. Preferably, the attitude data of the fire-fighting robot is updated every 100ms, and it is determined whether the fire-fighting robot is in an abnormal motion state every 100ms based on the acquired attitude data.
As shown in fig. 4 to 6, an embodiment of the second aspect of the present invention provides a fire fighting robot 400 including a robot main body 410 and a tail rod structure 420, wherein:
a control device 4102 is arranged in the robot body 410, the control device 4102 comprises a memory and a processor, the memory stores a computer program, and the processor realizes the method provided by any embodiment of the first aspect of the invention when executing the program;
the one end of tail rod structure 420 is connected to the middle part position of robot body 410 rear side, the other end of tail rod structure 420 is to keeping away from the direction of robot body 410 extends, just the tip of the other end of tail rod structure 420 is provided with the counter weight structure, the focus of tail rod structure 420 is located on the counter weight structure.
Further preferably, the weight structure has a triangular shape, and one of three corners of the weight structure is used for contacting with the ground for supporting the robot main body 410.
Further preferably, the fire fighting robot 400 is a two-wheeled robot.
The fire-fighting robot 400 provided according to the embodiment of the second aspect of the invention comprises a robot main body 410 and a tail rod structure 420, wherein a control device 4102 is arranged in the robot main body 410, and the control device 4102 can realize the method provided by any one of the embodiments of the first aspect of the invention when executing a program, so that the fire-fighting robot 400 has all the advantages of the method provided by any one of the embodiments of the first aspect of the invention. And the fire-fighting robot 400 is preferably a two-wheeled tailed-stick structure 420, the tailed-stick structure 420 is preferably in a fishtail shape, the weight of the tailed-stick is approximately about 85g, the small end of the tailed-stick is connected to the middle position of the rear side of the robot main body 410, the larger end of the tailed-stick is in a triangular shape, and the corner in contact with the ground among the three corners plays a role of supporting the robot main body 410. Most of the weight of the tail rod is concentrated at one end of the triangular shape. When the fire-fighting robot 400 suddenly decelerates, the fire-fighting robot 400 leans forwards under the action of inertia, at the moment, the fire-fighting robot 400 can be connected with the tail rod structure 420 to upwarp, and at the moment, due to the existence of the tail rod structure 420, the forward tilting amplitude of the trolley can be reduced, so that the overturn caused by rapid deceleration of the fire-fighting robot 400 is reduced to a certain extent.
An embodiment of the third aspect of the present invention provides an electronic device, including a memory and a processor, where the memory stores a computer program thereon, and the processor implements the method provided in any embodiment of the first aspect of the present invention when executing the program.
An embodiment of a fourth aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the method provided by any of the embodiments of the first aspect of the present invention.
The method for controlling a fire fighting robot provided in the present application will be described below with reference to a specific embodiment, as shown in fig. 7, and includes the steps of:
s702, reading the attitude original data of a gyroscope on the fire-fighting robot every 100 ms;
s704, converting the read attitude original data of the gyroscope into yaw angle data, pitch angle data and roll angle data of the fire-fighting robot;
s706, low-pass filtering is conducted on the yaw angle data, the pitch angle data and the roll angle data of the fire-fighting robot;
s708, comparing the yaw angle data, pitch angle data and roll angle after low-pass filtering with standard data, judging whether the fire-fighting robot is in a normal motion state according to a comparison result, turning to S710 when the fire-fighting robot is in the normal motion state, and turning to S712 when the fire-fighting robot is in an abnormal motion state;
s710, controlling the fire-fighting robot to stably operate;
s712, driving the target speed V of the motorEyes of a userSetting the value of an inertia coefficient a in a calculation formula of the set speed of the driving motor as 0, and setting the value of the inertia coefficient a as a maximum value until the driving motor stops running;
s714, driving the target speed V of the motorEyes of a userThe preset maximum speed is set until the speed of the driving motor reaches the preset maximum speed, and thereafter, step 708 may be performed so that the updated yaw angle data, pitch angle data, and roll angle may be compared with the standard data, and it is determined again whether the fire fighting robot is in an abnormal movement state according to a new comparison result.
In S712, V is setEyes of a userAnd the inertia coefficient a, waiting for a period of time, such as 1.5S, to wait for the driving motor to be able to drive the fire-fighting robot to stop running, and then setting the target speed VEyes of a userThe method comprises the steps of setting a preset maximum speed, waiting for a period of time, such as 1.5S, to wait for the driving motor to drive the fire-fighting robot to reach the maximum speed, detecting and judging whether the fire-fighting robot is in an abnormal motion state or not after the fire-fighting robot reaches the maximum speed, executing subsequent posture correction steps if the fire-fighting robot is in the abnormal motion state, and controlling the fire-fighting robot to normally and stably run according to a normal program if the fire-fighting robot is not in the abnormal motion state.
FIG. 8, among other things, shows a schematic block diagram of an electronic device 800 that may be used with embodiments of the present disclosure. As shown in fig. 8, the electronic device 800 includes a central processing unit 801 that can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory 802 or computer program instructions loaded from a storage unit 808 into a random access memory 803. In the RAM 803, various programs and data necessary for the operation of the electronic apparatus 800 can also be stored. The CPU801, ROM 802, and RAM 803 are connected to each other via a bus 804. An input/output interface 805 is also connected to the bus 804.
A number of components in the electronic device 800 are connected to the I/O interface 805, including: an input unit 806, such as a keyboard, a mouse, or the like; an output unit 807 such as various types of displays, speakers, and the like; a storage unit 808, such as a magnetic disk, optical disk, or the like; and a communication unit 809 such as a network card, modem, wireless communication transceiver, etc. The communication unit 809 allows the electronic device 800 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The processing unit 801 performs the respective methods and processes described above. For example, in some embodiments, the methods of the above-described implementation examples may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 808. In some embodiments, part or all of the computer program can be loaded and/or installed onto the electronic device 800 via the ROM 802 and/or the communication unit 809. When the computer program is loaded into the RAM 803 and executed by the CPU801, one or more steps of the remote control terminal and the in-vehicle reading apparatus described above may be performed. Alternatively, in other embodiments, the CPU801 may be configured to perform the methods in the implementation examples described above in any other suitable manner.
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays, application specific integrated circuits, application specific standard products, systems on a chip, load programmable logic devices, and the like.
Program code for illustrating the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be instantiated. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or electronic device.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical fiber, a portable compact disc read-only memory, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
Further, while operations are depicted in a particular order, this should be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombination.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.
Claims (10)
1. A control method of a fire fighting robot, characterized by comprising:
judging whether the fire-fighting robot is in an abnormal motion state or not based on the attitude data of the fire-fighting robot;
when the fire-fighting robot is in a normal motion state, controlling the fire-fighting robot to stably run;
and when the fire-fighting robot is in an abnormal motion state, controlling the fire-fighting robot to rapidly accelerate to a preset maximum speed or rapidly decelerate to stop.
2. The control method of a fire fighting robot according to claim 1,
when the fire-fighting robot is in an abnormal motion state, the fire-fighting robot is controlled to rapidly decelerate to stop and then rapidly accelerate to a preset maximum speed.
3. The method as claimed in claim 1, wherein the controlling of the fire-fighting robot to smoothly operate comprises controlling the fire-fighting robot to operate at a constant speed and controlling the fire-fighting robot to operate at an accelerated speed or a decelerated speed, calculating a set speed of a driving motor of the fire-fighting robot at a predetermined time interval according to formula 1 when the fire-fighting robot is controlled to operate at an accelerated speed or a decelerated speed, and setting the speed of the driving motor according to the calculated set speed until the calculated set speed is greater than or equal to a target speed VEyes of a userWhen the calculated set speed is equal to or higher than the target speed VEyes of a userIn time, the speed of the driving motor is directly set as the target speed, and formula 1 is:
Vn is arranged＝a×VEyes of a user+(1-a)×V(n-1) is；
Wherein, Vn is arrangedIndicates the nth set speed, V(n-1) isRepresents the set speed of the n-1 st time, n isA positive integer of 1 or more, a is an inertia coefficient, a is 0 or more and 1 or less, V0 is provided withIs the actual speed of the driving motor during pre-acceleration or pre-deceleration.
4. A control method of a fire fighting robot as recited in claim 3,
the step of controlling the fire fighting robot to sharply decelerate to a stop includes: target speed V of driving motorEyes of a userSetting the value of the inertia coefficient a in the formula 1 as a maximum value until the driving motor stops running, wherein a plurality of values a with different sizes are prestored in the fire-fighting robot;
the step of controlling the fire fighting robot to accelerate to a preset maximum speed comprises: setting a target speed V of the driving motorEyes of a userThe speed is set to a preset maximum speed until the speed of the driving motor reaches the preset maximum speed.
5. A control method of a fire fighting robot as recited in any one of claims 1 to 4, wherein the step of determining whether the fire fighting robot is in an abnormal motion state based on the attitude data of the fire fighting robot includes:
reading attitude original data of a gyroscope on the fire-fighting robot;
converting the read attitude original data of the gyroscope into yaw angle data, pitch angle data and roll angle data of the fire-fighting robot;
carrying out low-pass filtering processing on the yaw angle data, pitch angle data and roll angle data of the fire-fighting robot;
and comparing the yaw angle data, pitch angle data and roll angle after low-pass filtering with standard data, and judging whether the fire-fighting robot is in an abnormal motion state according to a comparison result.
6. A control method of a fire fighting robot as recited in any one of claims 1 to 4, wherein the step of determining whether the fire fighting robot is in an abnormal motion state based on the attitude data of the fire fighting robot includes:
updating the attitude data of the fire-fighting robot in real time, and judging whether the fire-fighting robot is in an abnormal motion state in real time based on the attitude data of the fire-fighting robot; or
Updating the attitude data of the fire-fighting robot at preset intervals, and judging whether the fire-fighting robot is in an abnormal motion state at preset intervals based on the acquired attitude data.
7. A fire fighting robot, comprising:
a robot main body, wherein a control device is arranged in the robot main body, the control device comprises a memory and a processor, the memory stores a computer program, and the processor executes the program to realize the method according to any one of claims 1-6;
the tail-rod structure, the one end of tail-rod structure is connected to the middle part position of robot main part rear side, the other end of tail-rod structure is to keeping away from the direction of robot main part extends, just the tip of the other end of tail-rod structure is provided with the counter weight structure, the focus of tail-rod structure is located the counter weight is structural.
8. A fire fighting robot as recited in claim 7,
the counterweight structure is in a triangular shape, and one of three corners of the counterweight structure is used for contacting with the ground so as to support the robot main body; and/or
The fire-fighting robot is a two-wheeled robot.
9. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program, wherein the processor, when executing the program, implements the method of any of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the method of any one of claims 1 to 6.
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