CN-121973267-A - Attachment control method of fire rescue robot, controller, robot and medium

CN121973267ACN 121973267 ACN121973267 ACN 121973267ACN-121973267-A

Abstract

The application provides an accessory control method of a fire rescue robot, a controller, the robot and a medium, and relates to the technical field of fire rescue. The robot comprises a mechanical arm and an accessory library, wherein a plurality of accessories are stored in the accessory library, and a wireless communication module is arranged in the accessory. The method comprises the steps of determining target accessories required by current operation of a robot, determining an accessory grabbing path of the mechanical arm according to gesture information of the target accessories relative to the mechanical arm, controlling the mechanical arm to move according to the accessory grabbing path, taking out the target accessories from an accessory library, and controlling the target accessories to operate through a wireless communication module in the target accessories. The method of the application improves the accuracy and reliability of the control of the accessory, thereby improving the operation efficiency and the safety of the fire rescue robot.

Inventors

LI XIAOXIAN
HU DING
ZENG BIN

Assignees

三一汽车制造有限公司

Dates

Publication Date: 20260505
Application Date: 20260326

Claims (10)

1. The utility model provides an accessory control method of fire control rescue robot, its characterized in that, the robot includes arm and accessory storehouse, deposit a plurality of accessories in the accessory storehouse, the accessory embeds has wireless communication module, the method includes: determining target accessories required by the current operation of the robot; determining an accessory grabbing path of the mechanical arm according to the gesture information of the target accessory relative to the mechanical arm; controlling the mechanical arm to move according to the accessory grabbing path, and taking out the target accessory from the accessory library; and controlling the target accessory to operate through a wireless communication module in the target accessory.
2. The method for controlling the attachment of the firefighting rescue robot according to claim 1, wherein determining the attachment grasping path of the mechanical arm according to the posture information of the target attachment with respect to the mechanical arm includes: determining a storage position of the target accessory in the accessory library, and determining an initial grabbing position corresponding to the storage position; After the mechanical arm is controlled to move to the initial grabbing position, a target accessory image acquired by a first sensing module on the mechanical arm is acquired; according to the target accessory image, three-dimensional attitude information of the target accessory relative to the mechanical arm is obtained through calculation; Determining an accessory grabbing path of the mechanical arm according to the three-dimensional gesture information, the initial grabbing position and the kinematic model, wherein the accessory grabbing path comprises a first path moving from the initial grabbing position to the storage position and a second path moving from the storage position to the initial grabbing position.
3. The method of controlling the attachment of the firefighting rescue robot according to claim 2, wherein the controlling the mechanical arm to move according to the attachment grasping path, and the extracting the target attachment from the attachment library, includes: Controlling the mechanical arm to move according to the first path, so that when the mechanical arm moves to the storage position, the quick-change male head on the mechanical arm can be combined with the quick-change female head on the target accessory; after the quick-change male head and the quick-change female head are detected to be locked, determining whether the target accessory is successfully connected according to a force sensor on the mechanical arm; if the target accessory is successfully connected, the mechanical arm is controlled to move according to the second path, and the target accessory is taken out from the accessory library; And if the target accessory is not successfully connected, the mechanical arm is controlled to move according to the first path after the mechanical arm is controlled to move for a first preset time period according to the second path.
4. A fire rescue robot attachment control method as claimed in any one of claims 1 to 3, wherein the controlling the target attachment to perform a job by a wireless communication module in the target attachment includes: Receiving the accessory description data transmitted by the wireless communication module, and determining target control parameters of the target accessory according to the accessory description data; the target control parameters are sent to the target accessory through the wireless communication module, so that the target accessory works according to the target control parameters; and in the operation process of the target accessory, acquiring actual operation data of the target accessory in real time through the wireless communication module, and carrying out dynamic feedback control on the operation of the target accessory according to the actual operation data.
5. The method of claim 4, wherein determining the target control parameter of the target accessory from the accessory description data comprises: Determining a target control parameter corresponding to the target accessory according to the accessory identification information and the accessory parameter information in the accessory description data; Or alternatively Determining initial control parameters corresponding to the target accessory according to the accessory identification information and the accessory parameter information in the accessory description data, and dynamically adjusting the initial control parameters according to the accessory state information and/or the current operation environment information in the accessory description data to determine the target control parameters corresponding to the target accessory.
6. The method for controlling the attachment of the firefighting rescue robot according to claim 5, wherein the dynamic feedback control of the operation of the target attachment according to the actual operation data includes: When abnormal data in the actual operation data are detected, dynamically adjusting the target control parameters according to the abnormal data, and transmitting the adjusted control parameters to the target accessory; Or alternatively When abnormal data in the actual operation data are detected, determining current posture information of the mechanical arm through image data acquired by a second sensing module on the robot; if the abnormal data is true, dynamically adjusting the target control parameters according to the abnormal data; the abnormal data are data which appear when the target accessory operation is abnormal.
7. The method for controlling the attachment of the fire rescue robot according to claim 6, further comprising, after the acquiring of the actual operation data of the target attachment in real time through the wireless communication module: Storing the abnormal data or the actual operation data; If the actual operation data is not received within the second preset duration, determining that communication interruption occurs, continuously performing communication connection with the wireless communication module, and after communication is recovered, acquiring cache data sent by the wireless communication module, wherein the cache data is data which is not successfully sent by the wireless communication module, and the target accessory stops operation during the communication interruption period.
8. A controller for a firefighting rescue robot, comprising: A processor, and a memory communicatively coupled to the processor; the memory is used for storing computer execution instructions; the processor is configured to execute computer-executable instructions stored in the memory, so that the processor executes the attachment control method of the firefighting rescue robot according to any one of claims 1 to 7.
9. A fire rescue robot comprising a mechanical arm, an accessory library and the controller of claim 8; The accessory library is internally provided with a plurality of accessories, the wireless communication module is connected with the controller in a communication way, and the controller is also connected with the mechanical arm; the robot is provided with a first sensing module, the robot is provided with a second sensing module, the first sensing module is used for collecting images of the accessories in the accessory library, the second sensing module is used for collecting images of the robot, and the first sensing module and the second sensing module are connected with the controller; the accessory is further provided with a plurality of sensors, and the sensors are connected with the wireless communication module.
10. A computer-readable storage medium, wherein computer-executable instructions are stored in the computer-readable storage medium, which when executed by a processor, are configured to implement the method for controlling the attachment of the fire rescue robot according to any one of claims 1 to 7.

Description

Attachment control method of fire rescue robot, controller, robot and medium Technical Field The application relates to the technical field of fire rescue, in particular to an accessory control method, a controller, a robot and a medium of a fire rescue robot. Background After a major fire accident, certain places and environments rely on traditional firefighters to have low efficiency and poor safety, so that firefighting rescue robots are becoming popular. In the related art, the fire rescue robot comprises a mechanical arm, and the mechanical arm is integrated with a plurality of tool positions by using a pure mechanical positioning mode so as to store accessories for different rescue operations. In the operation process, the robot can utilize the transmission structure of multiunit to transmit the motor power to different instrument positions to carry out the quick replacement of accessory. The attachment replacement of the robot is highly dependent on the pure mechanical positioning of the attachment, however, after the robot moves in complex terrains, the pure mechanical positioning of the attachment is easy to change, so that the attachment replacement failure rate is high, and the operation efficiency is seriously affected. In addition, in the operation process, the robot can only simply start and stop control the accessory, and overload damage, safety accidents or low operation efficiency and the like of the accessory are easily caused. Therefore, there is a need for an accessory control scheme of a fire rescue robot that can improve accuracy and reliability of accessory control, thereby improving operation efficiency and safety. Disclosure of Invention The embodiment of the application provides an accessory control method, a controller, a robot and a medium of a fire-fighting and rescue robot, which can improve the accuracy and reliability of accessory control, thereby improving the operation efficiency and safety of the fire-fighting and rescue robot. In a first aspect, an embodiment of the present application provides an accessory control method for a firefighting rescue robot, where the robot includes a mechanical arm and an accessory library, a plurality of accessories are stored in the accessory library, and a wireless communication module is built in the accessories, and the method includes: determining target accessories required by the current operation of the robot; determining an accessory grabbing path of the mechanical arm according to the gesture information of the target accessory relative to the mechanical arm; controlling the mechanical arm to move according to the accessory grabbing path, and taking out the target accessory from the accessory library; and controlling the target accessory to operate through a wireless communication module in the target accessory. In one possible implementation manner, the determining the accessory grabbing path of the mechanical arm according to the gesture information of the target accessory relative to the mechanical arm includes: determining a storage position of the target accessory in the accessory library, and determining an initial grabbing position corresponding to the storage position; After the mechanical arm is controlled to move to the initial grabbing position, a target accessory image acquired by a first sensing module on the mechanical arm is acquired; according to the target accessory image, three-dimensional attitude information of the target accessory relative to the mechanical arm is obtained through calculation; Determining an accessory grabbing path of the mechanical arm according to the three-dimensional gesture information, the initial grabbing position and the kinematic model, wherein the accessory grabbing path comprises a first path moving from the initial grabbing position to the storage position and a second path moving from the storage position to the initial grabbing position. In one possible implementation manner, the controlling the mechanical arm to move according to the accessory grabbing path, to take the target accessory out of the accessory library includes: Controlling the mechanical arm to move according to the first path, so that when the mechanical arm moves to the storage position, the quick-change male head on the mechanical arm can be combined with the quick-change female head on the target accessory; after the quick-change male head and the quick-change female head are detected to be locked, determining whether the target accessory is successfully connected according to a force sensor on the mechanical arm; if the target accessory is successfully connected, the mechanical arm is controlled to move according to the second path, and the target accessory is taken out from the accessory library; And if the target accessory is not successfully connected, the mechanical arm is controlled to move according to the first path after the mechanical arm is controlled to move for a first preset time period according