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Fire fighting truck path planning method and system, terminal and storage medium

A technology for path planning and fire trucks, applied in control/regulation systems, vehicle position/route/height control, motor vehicles, etc., can solve the problem that the environment model cannot quickly search and reach the target point, the effect of dynamic obstacle avoidance planning is poor, and the environment model Uncertainty and other problems, to achieve the effect of reducing the loss of people's lives and property, improving the efficiency of fire fighting and speeding up the path planning

Pending Publication Date: 2021-12-28
NARI TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The fast expanding tree algorithm is to limit the maximum rotation angle to explore random points, which limits the search direction and range, and is prone to local unsolvability, and the simple environment model cannot quickly search and reach the target point; establish a dynamic window detection to avoid local obstacles of dynamic obstacles Planning, there is no motion prediction for dynamic obstacles, resulting in uncertain dynamic obstacle environment models, and the path obtained by local planning cannot avoid obstacles; the real-time pose of the robot is obtained through the odometer, and there is a sliding error, and the pose is not corrected. There is an error in the initial point of the local planning, resulting in poor dynamic obstacle avoidance planning effect

Method used

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  • Fire fighting truck path planning method and system, terminal and storage medium
  • Fire fighting truck path planning method and system, terminal and storage medium
  • Fire fighting truck path planning method and system, terminal and storage medium

Examples

Experimental program
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Effect test

Embodiment 1

[0057] An embodiment of the present invention provides a fire truck path planning method, including:

[0058] Obtaining an environment model, which includes the pose of the fixed obstacle relative to the fire garage in the world coordinate system;

[0059] Obtaining search boundary information and obstacle information based on the environment model, and using the target trend to quickly expand the tree search to obtain the global path;

[0060] Based on the global path, sending a control signal to the fire truck, so that the fire truck moves from the fire garage to the target point along the global path;

[0061] Receive the fixed obstacle information fed back during the fire truck's walking process, and correct the current pose of the fire truck based on the received fixed obstacle pose;

[0062] Receive the dynamic obstacle information fed back during the walking process of the fire truck, predict the obstacle movement and collision based on the received dynamic obstacle, a...

Embodiment 2

[0103] An embodiment of the present invention provides a fire truck path planning system, including:

[0104] The obtaining module is used to obtain the environment model, and the environment model includes the pose of the fixed obstacle relative to the fire garage in the world coordinate system;

[0105] The global path planning module is used to obtain the search boundary information and obstacle information based on the environment model, and adopt the target trend to quickly expand the tree search to obtain the global path;

[0106] A sending module, configured to send a control signal to the fire truck based on the global path, so that the fire truck moves from the fire garage to the target point along the global path;

[0107] The correction module is used to receive the fixed obstacle information fed back during the walking process of the fire truck, and correct the current pose of the fire truck based on the received fixed obstacle pose;

[0108] The local path planni...

Embodiment 3

[0111] An embodiment of the present invention provides a fire truck route planning terminal, including a processor and a memory coupled to the processor;

[0112] The memory stores program instructions for implementing the fire truck path planning method described in any one of Embodiment 1;

[0113] The processor is used to execute the program instructions stored in the memory to control the path planning of the fire truck and process the sensing information.

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Abstract

The invention discloses a fire fighting truck path planning method and system, a terminal and a storage medium. The method comprises the following steps: acquiring an environment model; based on the environment model, obtaining search boundary information and obstacle information, and adopting a target trend rapid expansion tree to carry out search to obtain a global path; based on the global path, sending a control signal to the fire fighting truck, so that the fire fighting truck moves to a target point from a fire truck garage along the global path; receiving fixed obstacle information fed back in the walking process of the fire fighting truck, and correcting the current pose of the fire fighting truck based on the received fixed obstacle pose; receiving dynamic obstacle information fed back in the walking process of the fire fighting truck, carrying out obstacle movement collision prediction based on the received dynamic obstacle, determining whether local path planning is conducted or not based on the prediction result, and updating the global path through the local path planning. According to the method and system, the optimal path can be quickly searched, obstacle avoidance planning can be carried out on dynamic obstacles, and the fire fighting truck is controlled to safely arrive at the target point without collision.

Description

technical field [0001] The invention belongs to the technical field of route planning, and in particular relates to a fire truck route planning method, system, terminal and storage medium. Background technique [0002] With the continuous progress and development of science and technology, robot technology has been applied in fire protection, but in the actual application process, intelligent control technology has not been well demonstrated. For fire-fighting robots, efficient planning of a collision-free and safe path from the starting point to the fire-fighting point is the basis of intelligence and an important part of intelligent fire-fighting robots. In the traditional path planning methods, the common ones are grid map search method, particle swarm optimization algorithm and fast random tree search method. However, the grid map search method is easy to construct, but the route planning efficiency is low and the space is wasted, and the resolution of the grid does not...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0276Y02T10/40
Inventor 黄国方甘志坚张静刘晓铭单超陈向志许茂洲廖志勇郝永奇钟亮民汤济民杨明鑫谢咏麟张斌薛栋良温祥青侯建国
Owner NARI TECH CO LTD
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