A multi-degree-of-freedom robot intelligent obstacle avoidance method and system thereof

Abstract

The present invention belongs to the technical field of robots, specifically a multi-degree-of-freedom robot intelligent obstacle avoidance method and system thereof, including an obstacle avoidance module, a protection module, an escape module and an assisting rescue module; the obstacle avoidance module includes an image acquisition unit, Material data unit, material comparison unit, volume calculation unit, density mass conversion unit, route calculation unit, mass comparison calculation unit and time comparison unit; the protection module is used to protect the robot; the escape module is used to make the robot escape Collapse area; the assisting rescue module is used to transmit the internal environmental information of the accident building to the external fire protection system. The present invention uses the obstacle avoidance module to quickly avoid obstacles, and the protection module can change the trajectory of small falling objects to avoid damage to the robot. The escape module can enable the robot to escape from large falling objects and assist the rescue module to provide firefighters from the outside world. On-site data is helpful for firefighters to formulate rescue plans.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to an intelligent obstacle avoidance method and system for a multi-degree-of-freedom robot. Background technique [0002] With the development of science and technology and the progress of society, a large number of high-rise buildings have appeared in the past few decades. When a fire breaks out, high-rise buildings are not only difficult to extinguish the fire, but also many of the risk factors directly threaten the lives of firefighters. Safety and harmony of society and nature. Therefore, intelligent robots emerged as an emerging force in the field of fire protection. It can find the fire source when no one or no one is paying attention, find the fire source, and extinguish the fire source, so as to ensure the safety of people's lives and property. Moreover, it can carry out fire reconnaissance, chemical dangerous goods detection, fire extinguishing, cooling, decontamination, d...

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Problems solved by technology

[0003] Although fire-fighting robots can replace firefighters approaching the fire scene to carry out effective fire-fighting and rescue operations, and carry out various fire-site reconnaissance tasks, especially in places where the danger is high or the firefighters are not easy to approach, it is of great significance to reduce the loss of national property and the casualties of firefighting and rescue personnel. However, the environment and terrain of the fire scene are relatively complex. The existing fire-fighting robots have a low level of intelligence, weak ability to avoid obstacles, and poor adaptability to the complex terrain of the fire scene, which largely limits To promote the use of fire-fighting robots, for this reason, a multi-degree-of-freedom robot intelligent obstacle avoidance method and its system are proposed, which can choose the fastest obstacle avoidance method to reach the rescue area, improve the robot obstacle avoidance efficiency, and can perform falling Object capture, avoid falling objects, thereby improving the robot's avoidance efficiency, thereby improving the rescue efficiency

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