A control method and system for an explosive disposal robot

Abstract

A control method and system for an explosive disposal robot relates to the field of intelligent control technology. In this method, the current explosive disposal section and the preset explosive disposal overall route are segmented based on the current terrain information to obtain multiple explosive disposal sub-sections and preset explosive disposal routes corresponding to each explosive disposal sub-section; environmental images collected by the explosive disposal robot when performing explosive disposal work in each explosive disposal sub-section are obtained; based on each environmental image, multiple key feature points corresponding to each explosive disposal sub-section are obtained; based on the multiple key feature points, the explosive disposal hazard coefficient corresponding to each key feature point is determined; based on each explosive disposal hazard coefficient, the preset explosive disposal route is adjusted to obtain the actual explosive disposal route corresponding to each explosive disposal sub-section; the explosive disposal robot is controlled to perform explosive disposal work according to each actual explosive disposal route. Implementing the technical solution of the present application can effectively reduce the reliance of the explosive disposal robot on remote control when performing explosive disposal work, and improve the autonomy and adaptability of the explosive disposal robot.

Description

Technical Field

[0001] The present application relates to the field of intelligent control technology, and in particular to a bomb disposal robot control method and system. Background Art

[0002] An explosive disposal robot is a robot specially designed to handle explosives. When performing explosive disposal work, the operator of existing explosive disposal robots remotely controls the robot through a control console via wireless or wired communication at a safe distance to reduce the risk of directly handling explosives. However, this control method will affect the control signal when the explosive disposal robot is far away from the control console, thereby interfering with the explosive disposal work of the explosive disposal robot. Therefore, how to reduce the reliance of the explosive disposal robot on remote control when performing explosive disposal work and improve the autonomy and adaptability of the explosive disposal robot has become a technical problem that needs to be solved urgently.

[0003] Therefore, there is an urgent need for a bomb disposal robot control method and system to solve the problems existing in current technology. Summary of the invention

[0004] The present application provides a control method and system for an explosive ordnance disposal robot, which can effectively reduce the reliance of the explosive ordnance disposal robot on remote control when performing explosive ordnance disposal work, and improve the autonomy and adaptability of the explosive ordnance disposal robot.

[0005] In the first aspect, the present application provides a method for controlling a bomb disposal robot, the method comprising: obtaining current terrain information and a preset overall bomb disposal route corresponding to a current bomb disposal section; segmenting the current bomb disposal section and the preset overall bomb disposal route based on the current terrain information to obtain a plurality of bomb disposal sub-sections and preset bomb disposal routes corresponding to each of the bomb disposal sub-sections; obtaining environmental images collected by the bomb disposal robot when performing bomb disposal work in each of the bomb disposal sub-sections; based on each of the environmental images, obtaining a plurality of key feature points corresponding to each of the bomb disposal sub-sections; based on the plurality of key feature points, determining a bomb disposal hazard coefficient corresponding to each of the key feature points; based on each of the bomb disposal hazard coefficients, adjusting the preset bomb disposal route to obtain an actual bomb disposal route corresponding to each of the bomb disposal sub-sections; and controlling the bomb disposal robot to perform bomb disposal work according to each of the actual bomb disposal routes.

[0006] By adopting the above technical solution, by obtaining the current terrain information and the preset overall bomb disposal route corresponding to the current bomb disposal section, it is possible to provide the necessary environmental background and initial data for the bomb disposal task, and by segmenting the current bomb disposal section and the preset overall bomb disposal route based on the current terrain information, it is possible to more effectively manage and plan the bomb disposal task; by obtaining the environmental images collected by the bomb disposal robot when performing bomb disposal work in each bomb disposal sub-section, and by obtaining multiple key feature points corresponding to each bomb disposal sub-section based on each environmental image, it is possible to identify potential risks and obstacles, and then the terrain information can be evaluated in real time to enhance the adaptability and accuracy of the bomb disposal plan; by determining the bomb disposal hazard coefficient corresponding to each key feature point based on multiple key feature points, it is possible to quantify the potential risk of each feature point; by adjusting the preset bomb disposal route based on each bomb disposal hazard coefficient, it is possible to obtain the actual bomb disposal route corresponding to each bomb disposal sub-section, thereby ensuring that the actual bomb disposal route is optimized based on the latest risk assessment and on-site conditions, thereby effectively reducing the bomb disposal robot's reliance on remote control when performing bomb disposal work, and improving the autonomy and adaptability of the bomb disposal robot.

[0007] Optionally, the current bomb disposal section and the preset bomb disposal overall route are segmented based on the current terrain information to obtain a plurality of bomb disposal sub-sections and preset bomb disposal routes corresponding to each bomb disposal sub-section, specifically comprising: inputting the current terrain information into a geographic information system for analysis to obtain a plurality of terrain features; obtaining a segmentation standard based on the plurality of terrain features and preset bomb disposal task requirements; segmenting the current bomb disposal section based on the segmentation standard to obtain a plurality of the bomb disposal sub-sections; and determining the preset bomb disposal routes corresponding to each of the bomb disposal sub-sections based on the correspondence between the current bomb disposal section and the preset bomb disposal overall route.

[0008] Optionally, based on each of the environmental images, a plurality of key feature points corresponding to each of the bomb disposal sub-sections are obtained, specifically including: performing image preprocessing on each of the environmental images to obtain each preprocessed environmental image; performing image enhancement processing on each of the preprocessed environmental images to obtain each detection image; extracting a plurality of environmental features from each of the detection images based on a computer vision algorithm; identifying a plurality of environmental features to determine a plurality of key features corresponding to each of the bomb disposal sub-sections; and accurately calibrating a plurality of key features in the corresponding bomb disposal sub-sections to obtain a plurality of key feature points.

[0009] Optionally, determining the bomb disposal hazard coefficient corresponding to each key feature point based on multiple key feature points specifically includes: determining the feature point type corresponding to each key feature point based on each key feature; performing contour recognition on each key feature point to obtain the feature point area corresponding to each key feature point; obtaining the danger zone position corresponding to the known danger zone in each bomb disposal sub-section and the feature point position corresponding to each key feature point; obtaining the relative position of the feature point corresponding to each key feature point based on each feature point position and the danger zone position; and calculating the bomb disposal hazard coefficient corresponding to each key feature point based on each feature point type, each feature point area and each feature point relative position.

[0010] Optionally, the bomb disposal hazard coefficient corresponding to each of the key feature points is calculated based on the type of each of the feature points, the area of ​​each of the feature points and the relative position of each of the feature points, specifically including: determining the type score corresponding to each of the key feature points based on the type of each of the feature points; determining the relative position score corresponding to each of the key feature points based on the relative position of each of the feature points; calculating the bomb disposal hazard coefficient corresponding to each of the key feature points based on each of the type scores, the area of ​​each of the feature points and the relative position scores; the bomb disposal hazard coefficient is calculated by the following formula: C=αX+βln(Y)+γZ; wherein C is the bomb disposal hazard coefficient, X is the type score, Y is the area of ​​the feature point, Z is the relative position score, α is the type influence weight, β is the area influence weight, and γ is the relative position influence weight.

[0011] By adopting the above technical solution, since the area of ​​the feature points may span a large range, directly using the area may lead to extreme differences or imbalances in the calculation results. Therefore, when calculating, the feature point area is scaled by taking the logarithm of the feature point area to more effectively process data at different orders of magnitude, thereby reducing the relative impact of large data values ​​while enhancing the visibility of small data values.

[0012] Optionally, the preset bomb disposal route is adjusted based on each of the bomb disposal hazard coefficients to obtain an actual bomb disposal route corresponding to each of the bomb disposal sub-sections, specifically including: based on each of the bomb disposal hazard coefficients, screening out multiple potential danger points from multiple key feature points; the bomb disposal hazard coefficient corresponding to the potential danger point is greater than a preset hazard coefficient threshold; judging whether all of the potential danger points are on the preset bomb disposal route; if there is at least one potential danger point that is not on the preset bomb disposal route, obtaining the potential danger point position corresponding to each of the potential danger points; based on the potential danger point position corresponding to each of the potential danger points and the bomb disposal hazard coefficient, obtaining the bomb disposal priority corresponding to each of the potential danger points; generating the actual bomb disposal route based on each of the bomb disposal priorities and a path planning algorithm.

[0013] Optionally, the bomb disposal priority corresponding to each potential danger point is obtained based on the potential danger point position and the bomb disposal hazard coefficient corresponding to each potential danger point, specifically including: obtaining the current position of the bomb disposal robot; determining the interval distance between each potential danger point and the bomb disposal robot based on the current position and the position of each potential danger point; calculating the bomb disposal priority corresponding to each potential danger point based on each bomb disposal hazard coefficient and each interval distance; calculating the bomb disposal priority corresponding to each potential danger point by the following formula:

[0014]

[0015] Among them, P i is the EOD priority corresponding to the i-th potential danger point, C i is the explosive disposal risk coefficient corresponding to the ith potential danger point, max(C) is the maximum value of the explosive disposal risk coefficients corresponding to all the potential danger points, min(C) is the minimum value of the explosive disposal risk coefficients corresponding to all the potential danger points, D i is the interval distance corresponding to the ith potential danger point, max(D) is the maximum value of the interval distances corresponding to all the potential danger points, min(D) is the minimum value of the interval distances corresponding to all the potential danger points, w1 is the risk factor weight, and w2 is the distance factor weight.

[0016] By adopting the above technical solution, by screening out key feature points with a risk factor higher than a preset threshold, resources and attention can be concentrated on the areas most likely to have risks, unnecessary bomb disposal work can be reduced, and the efficiency of the overall operation can be improved. By judging whether all potential danger points are included in the preset bomb disposal route, the comprehensiveness and coverage of the bomb disposal plan can be ensured, and the risk of missing potential danger areas can be reduced. When it is found that there are potential danger points that are not on the preset bomb disposal route, by obtaining the specific locations of these points, necessary adjustments can be made to the bomb disposal plan to ensure that all key areas are properly handled. Based on the location and risk factor of each potential danger point, the bomb disposal priority is calculated, so that the order of processing each potential danger point can be determined; and when calculating the bomb disposal priority, the risk factor is normalized to between 0 and 1 by subtracting the minimum risk factor from the bomb disposal risk factor and dividing it by the difference between the maximum and minimum risk factors, so that the risk factors between different feature points can be compared with each other; and by considering the physical distance between the feature point and the current position of the bomb disposal robot or other reference points, and using the maximum distance minus the actual distance, and normalizing, the potential danger points with close distance can get higher scores, so that the relative importance of the distance factor in the bomb disposal priority can be reflected. Finally, the actual bomb disposal route is generated based on the bomb disposal priority and path planning algorithm, thereby ensuring that the bomb disposal robot can follow the optimal path when performing bomb disposal work.

[0017] In a second aspect of the present application, a control system for an explosive ordnance disposal robot is provided, the system comprising an acquisition module, a processing module and a control module; the acquisition module is used to acquire current terrain information and a preset overall explosive ordnance disposal route corresponding to a current explosive ordnance disposal section; the processing module is used to segment the current explosive ordnance disposal section and the preset overall explosive ordnance disposal route based on the current terrain information to obtain a plurality of explosive ordnance disposal sub-sections and preset explosive ordnance disposal routes corresponding to each of the explosive ordnance disposal sub-sections; the acquisition module is also used to acquire environmental images collected by the explosive ordnance disposal robot when performing explosive ordnance disposal work in each of the explosive ordnance disposal sub-sections; the processing module is also used to obtain a plurality of key feature points corresponding to each of the explosive ordnance disposal sub-sections based on each of the environmental images; the processing module is also used to determine the explosive ordnance disposal risk factor corresponding to each of the key feature points based on the plurality of the key feature points; the processing module is also used to adjust the preset explosive ordnance disposal route based on each of the explosive ordnance disposal risk factors to obtain the actual explosive ordnance disposal route corresponding to each of the explosive ordnance disposal sub-sections; the control module is used to control the explosive ordnance disposal robot to perform explosive ordnance disposal work according to each of the actual explosive ordnance disposal routes.

[0018] In the third aspect of the present application, an electronic device is provided, including a processor, a memory, a user interface and a network interface, the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes any method as described in the first aspect of the present application.

[0019] In a fourth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program that can be loaded by a processor and execute the method as described in any one of the first aspects of the present application.

[0020] In summary, one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0021] 1. By obtaining the current terrain information and the preset overall route of bomb disposal corresponding to the current bomb disposal section, the necessary environmental background and initial data can be provided for the bomb disposal task, and by segmenting the current bomb disposal section and the preset overall route of bomb disposal based on the current terrain information, the bomb disposal task can be managed and planned more effectively; by obtaining the environmental images collected by the bomb disposal robot when performing bomb disposal work in each bomb disposal sub-section, and by obtaining multiple key feature points corresponding to each bomb disposal sub-section based on each environmental image, potential risks and obstacles can be identified, and then the terrain information can be evaluated in real time to enhance the adaptability and accuracy of the bomb disposal plan; by determining the bomb disposal hazard coefficient corresponding to each key feature point based on multiple key feature points, the potential risk of each feature point can be quantified; by adjusting the preset bomb disposal route based on each bomb disposal hazard coefficient, the actual bomb disposal route corresponding to each bomb disposal sub-section can be obtained, thereby ensuring that the actual bomb disposal route is optimized according to the latest risk assessment and on-site conditions, thereby effectively reducing the bomb disposal robot's dependence on remote control when performing bomb disposal work, and improving the autonomy and adaptability of the bomb disposal robot.

[0022] 2. Since the area of ​​feature points may span a large range, directly using the area may lead to extreme differences or imbalances in the calculation results. Therefore, the feature point area is scaled by taking the logarithm of the feature point area during calculation to more effectively process data at different orders of magnitude, thereby reducing the relative impact of large data values ​​while enhancing the visibility of small data values.

[0023] 3. By screening out key feature points with a risk factor higher than the preset threshold, resources and attention can be concentrated on the areas most likely to be at risk, unnecessary bomb disposal work can be reduced, and the overall efficiency of the operation can be improved. By judging whether all potential danger points are included in the preset bomb disposal route, the comprehensiveness and coverage of the bomb disposal plan can be ensured, and the risk of missing potential danger areas can be reduced. When it is found that there are potential danger points that are not on the preset bomb disposal route, the specific locations of these points can be obtained, so that the bomb disposal plan can be adjusted as necessary to ensure that all key areas are properly handled. Based on the location and risk factor of each potential danger point, the bomb disposal priority is calculated, so that the order of handling each potential danger point can be determined; and when calculating the bomb disposal priority, the risk factor is normalized to between 0 and 1 by subtracting the minimum risk factor from the bomb disposal risk factor and dividing it by the difference between the maximum and minimum risk factors, so that the risk factors between different feature points can be compared with each other; and by considering the physical distance between the feature point and the current position of the bomb disposal robot or other reference points, and using the maximum distance minus the actual distance, and normalizing, the potential danger points with close distance can get higher scores, which can reflect the relative importance of the distance factor in the bomb disposal priority. Finally, the actual bomb disposal route is generated based on the bomb disposal priority and path planning algorithm, thereby ensuring that the bomb disposal robot can follow the optimal path when performing bomb disposal work. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a flow chart of a method for controlling an explosive disposal robot provided in an embodiment of the present application;

[0025] Figure 2 It is a structural schematic diagram of a control system of an explosive disposal robot provided in an embodiment of the present application;

[0026] Figure 3 It is a structural schematic diagram of an electronic device disclosed in an embodiment of the present application.

[0027] Explanation of the reference numerals: 1. Acquisition module; 2. Processing module; 3. Control module; 300. Electronic device; 301. Processor; 302. Communication bus; 303. User interface; 304. Network interface; 305. Memory. DETAILED DESCRIPTION

[0028] In order to enable technicians in this field to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0029] In the description of the embodiments of the present application, words such as "for example" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "for example" or "for example" is intended to present related concepts in a specific way.

[0030] In the description of the embodiments of the present application, the meaning of the term "multiple" refers to two or more. For example, multiple systems refer to two or more systems, and multiple screen terminals refer to two or more screen terminals. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the indicated technical features. Thus, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features. The terms "include", "comprise", "have" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0031] The present application provides a control method for an explosive disposal robot. In order to reduce the reliance of the explosive disposal robot on remote control when performing explosive disposal work, the method is applied to the processor of the explosive disposal robot. Figure 1 , which shows a flow chart of a method for controlling an explosive disposal robot provided in an embodiment of the present application. The method includes steps S1-S7, which are as follows: Step S1: Obtain current terrain information corresponding to the current explosive disposal section and a preset overall explosive disposal route.

[0032] Specifically, in this technical solution, before the bomb disposal robot is put into bomb disposal work, it is first necessary to obtain high-resolution images of the current bomb disposal section through remote sensing technology, that is, through satellite images and aerial photography, and to conduct ground surveys using drones or ground sensor systems to collect more detailed terrain information, such as surface texture, vegetation distribution, terrain undulations, etc., and then obtain the current terrain information corresponding to the current bomb disposal section. Then, based on preliminary safety assessments and tactical considerations, a preset bomb disposal overall route corresponding to the current bomb disposal section is pre-planned.

[0033] After obtaining the current terrain information corresponding to the current EOD section and the preset overall EOD route, the current terrain information corresponding to the current EOD section and the preset overall EOD route are uploaded to the processor of the EOD robot.

[0034] Step S2: segmenting the current EOD section and the preset EOD overall route based on the current terrain information to obtain a plurality of EOD sub-sections and preset EOD routes corresponding to each EOD sub-section.

[0035] Specifically, in the present technical solution, the current bomb disposal section is divided into multiple bomb disposal sub-sections and each bomb disposal sub-section based on the current terrain information, and then the preset bomb disposal overall route is segmented to obtain the preset bomb disposal routes corresponding to each bomb disposal sub-section, thereby ensuring that the bomb disposal robot can achieve optimization in safety and efficiency during bomb disposal work.

[0036] In a possible implementation, step S2 specifically includes the following steps:

[0037] The current terrain information is input into the geographic information system for analysis to obtain multiple terrain features.

[0038] Specifically, in this technical solution, before the bomb disposal robot is put into bomb disposal work, it is also necessary to deploy a geographic information system (i.e., GIS software) to the processor of the bomb disposal robot. Then the current terrain information obtained in step S1 is input into the geographic information system for analysis, and different layers are created to represent various terrain features, such as water bodies, mountains, buildings, roads, etc. Then the terrain features that are critical to the bomb disposal task are identified, such as areas that may hide explosives, or terrain conditions that make it difficult for the bomb disposal robot to operate; and terrain obstacles that may hinder the action of the bomb disposal robot are analyzed, such as steep slopes, dense vegetation, rivers and other terrain features.

[0039] Based on multiple terrain features and preset bomb disposal mission requirements, segmentation standards are obtained.

[0040] Specifically, in this technical solution, before obtaining the segmentation standards based on multiple terrain features and preset bomb disposal task requirements, it is first necessary to formulate preset bomb disposal task requirements. Safety requirements are the primary consideration for preset bomb disposal tasks. Professional and technical personnel will analyze which terrain areas may have higher risks, such as areas with frequent unexploded objects, areas that are difficult to access or have limited vision. And consider operational efficiency requirements, that is, how to optimize the working route of the bomb disposal robot to improve efficiency, which includes finding the most direct path, avoiding repeated coverage of areas, etc. After formulating the preset bomb disposal task requirements, the preset bomb disposal task requirements are uploaded to the processor of the bomb disposal robot. The processor of the bomb disposal robot will then determine the segmentation standards based on multiple terrain features and preset bomb disposal task requirements. The segmentation standards must ensure a certain degree of flexibility to adapt to the update of terrain information or changes in on-site conditions.

[0041] The current EOD section is segmented based on the segmentation standard to obtain a plurality of EOD sub-sections.

[0042] Specifically, in this technical solution, the processor of the bomb disposal robot segments the current bomb disposal section into sections of specific terrain types, sections of specific risk levels, or sections of specific operational difficulty according to the segmentation criteria to obtain multiple bomb disposal sub-sections.

[0043] Based on the correspondence between the current EOD section and the preset overall EOD route, the preset EOD routes corresponding to each EOD sub-section are determined.

[0044] Specifically, in the present technical solution, the processor of the bomb disposal robot further determines the preset bomb disposal route corresponding to each bomb disposal sub-section according to the correspondence between the current bomb disposal section and the preset bomb disposal overall route.

[0045] Step S3: Acquire environmental images collected by the bomb disposal robot when performing bomb disposal work in each bomb disposal sub-section.

[0046] Specifically, in this technical solution, professional technicians first deploy a shooting device (such as a camera or other image capture device) on the bomb disposal robot and connect the shooting device to the processor of the bomb disposal robot. Then, professional technicians deploy the bomb disposal robot to the starting position of the current bomb disposal section, and the processor of the bomb disposal robot controls the shooting device to collect environmental images of the surrounding environment of the bomb disposal robot when it performs bomb disposal work in each bomb disposal sub-section.

[0047] Step S4: Based on each environmental image, a plurality of key feature points corresponding to each EOD sub-section are obtained.

[0048] Specifically, in this technical solution, key feature points are extracted based on the environmental images collected by the bomb disposal robot in each bomb disposal sub-section to identify potential danger areas and subsequently optimize the bomb disposal route of the bomb disposal robot.

[0049] In a possible implementation, step S4 specifically includes the following steps:

[0050] Perform image preprocessing on each environmental image to obtain each preprocessed environmental image.

[0051] Specifically, in this technical solution, the collected environmental images are first subjected to basic cleaning processing, and image denoising techniques, such as Gaussian smoothing, median filtering, etc., are applied to remove random noise in the environmental images to obtain various pre-processed environmental images.

[0052] Perform image enhancement processing on each preprocessed environment image to obtain each detection image.

[0053] Specifically, in this technical solution, image processing techniques (such as histogram equalization) are used to enhance the contrast of the preprocessed environment image, making important features and details more obvious. And adjust the brightness level of the preprocessed environment image, especially in dim or overly bright conditions, to ensure that all key areas are clearly visible. Then apply edge detection algorithms such as Sobel, Canny or Laplacian to highlight the edge information in the preprocessed environment image, and make the outline of the object in the image clearer through edge enhancement. Then enhance or adjust the color saturation of the preprocessed environment image to improve the visual effect of the image and highlight important features, and finally obtain a detection image.

[0054] Based on computer vision algorithms, multiple environmental features are extracted from each detection image.

[0055] Specifically, in this technical solution, feature detection algorithms such as SIFT (Scale Invariant Feature Transform), SURF (Speeded Robust Features), and ORB (Oriented Fast and Rotationally Concise) are used to identify key points in the detection image. Feature extraction is performed at different scales to ensure that all important information from tiny details to large-scale features can be captured. Edge detection algorithms such as Canny or Sobel edge detectors are used to extract edge information features in the image. Finally, multiple environmental features are obtained.

[0056] Identify multiple environmental features and determine multiple key features corresponding to each EOD sub-section.

[0057] Specifically, in this technical solution, multiple environmental features are first classified into different types, such as natural features (rocks, soil types, vegetation) and man-made features (building debris, roads, suspicious objects). Then, through image recognition technology, such as template matching and object detection algorithms, key feature points in the environment are identified and confirmed, with special attention paid to abnormal feature points that do not conform to normal environmental patterns, such as unusual mounds and objects of unnatural colors, which may be hidden explosives or other dangerous items. And for pre-known or standardized features (such as road signs, specific types of structures), special recognition algorithms are used for identification. Finally, multiple key features are obtained.

[0058] Multiple key features are accurately calibrated in corresponding EOD sub-sections to obtain multiple key feature points.

[0059] Specifically, in this technical solution, the bomb disposal robot records the precise positions of multiple key features when taking images, and combines the GPS positioning data of the bomb disposal robot to determine the exact geographic location of each identified feature point, and then marks the location of each feature point in the geographic information system to create a detailed map containing all important geographic markers, thereby obtaining multiple key feature points.

[0060] Step S5: Based on the multiple key feature points, determine the explosive hazard coefficient corresponding to each key feature point.

[0061] Specifically, in this technical solution, based on multiple key feature points, the bomb disposal hazard coefficient corresponding to each key feature point is determined, so as to evaluate the potential risk level of each key feature point and subsequently optimize the bomb disposal route of the bomb disposal robot.

[0062] In a possible implementation, step S5 specifically includes the following steps:

[0063] Based on each key feature, the feature point type corresponding to each key feature point is determined.

[0064] Specifically, in the present technical solution, key feature points are divided into different categories, each of which may have a different danger level. For example, suspicious objects may have a higher potential risk than natural obstacles.

[0065] Perform contour recognition on each key feature point to obtain the feature point area corresponding to each key feature point.

[0066] Specifically, in this technical solution, the area of ​​each key feature point is measured based on image analysis or combined with GIS data to further evaluate how the area of ​​the feature point corresponding to the key feature point affects its potential degree of danger. Generally, larger feature points may indicate greater risks.

[0067] The dangerous area positions corresponding to the known dangerous areas in each EOD sub-section and the feature point positions corresponding to each key feature point are obtained.

[0068] Specifically, in this technical solution, before obtaining the location of the dangerous area corresponding to the known dangerous area in each bomb disposal sub-section, the location of the known dangerous area is first determined by referring to the historical records and reports, and the location information of these known dangerous areas is integrated into the geographic information system to facilitate comparison and analysis with the current terrain information and feature point locations. Then, according to the GPS positioning data combined with the bomb disposal robot in the aforementioned embodiment, the exact geographical location of each identified feature point is determined to obtain the feature point location corresponding to each key feature point.

[0069] Based on the positions of each feature point and the position of the dangerous area, the relative position of the feature point corresponding to each key feature point is obtained.

[0070] Specifically, in this technical solution, the distance between the position of each feature point and the position of the nearest known dangerous area is analyzed to evaluate the potential risk of the feature point.

[0071] Based on the type of each feature point, the area of ​​each feature point and the relative position of each feature point, the explosive hazard coefficient corresponding to each key feature point is calculated.

[0072] In a possible implementation, based on the type of each feature point, the area of ​​each feature point, and the relative position of each feature point, calculating the explosive hazard coefficient corresponding to each key feature point specifically includes the following steps:

[0073] Based on the types of each feature point, the type score corresponding to each key feature point is determined.

[0074] Specifically, in this technical solution, a set of scoring criteria is established according to the type of feature points, such as natural obstacles, man-made structures, suspicious objects, etc. Each type of feature point will be assigned a different score according to its potential risk level.

[0075] Based on the relative position of each feature point, the relative position score corresponding to each key feature point is determined.

[0076] Specifically, in this technical solution, another set of scoring criteria is established based on the relative position of the feature points and the known dangerous areas. Each type of feature point will be assigned a different score based on its distance from the known dangerous area.

[0077] Based on the scores of each type, the area of ​​each feature point and the relative position scores, the bomb disposal hazard coefficient corresponding to each key feature point is calculated.

[0078] The explosion hazard factor is calculated by the following formula:

[0079] C = αX + βln(Y) + γZ;

[0080] Among them, C is the EOD hazard coefficient, X is the type score, Y is the feature point area, Z is the relative position score, α is the type influence weight, β is the area influence weight, and γ is the relative position influence weight.

[0081] Specifically, in the present technical solution, the logarithm of the feature point area is used to scale the feature point area during calculation so as to more efficiently process data at different orders of magnitude. In many cases, the feature point area may span a large range, and directly using the area may lead to extreme differences or imbalances in the calculation results. Applying logarithmic transformation is a common method that can reduce the relative impact of large data values ​​while enhancing the visibility of small data values. For example, suppose there are two feature points with areas of 1 square meter and 1000 square meters respectively. If these area values ​​are used directly, the impact of the feature point of 1000 square meters on the overall score will be much greater than that of the feature point of 1 square meter. By applying logarithmic transformation, these values ​​will be converted to closer values. For an area of ​​1 square meter, the logarithm is ln(1)=0; for an area of ​​1000 square meters, the logarithm is ln(1000)≈6.91.

[0082] The values ​​of the type impact weight, area impact weight, and relative position impact weight can be determined based on historical data analysis or expert knowledge. Therefore, the values ​​of the weights are not specifically limited in this solution.

[0083] Step S6: Based on each EOD risk factor, the preset EOD route is adjusted to obtain the actual EOD route corresponding to each EOD sub-section.

[0084] Specifically, in this technical solution, the preset EOD route is adjusted to obtain an actual EOD route for each EOD sub-section.

[0085] In a possible implementation manner, step S6 specifically includes the following steps:

[0086] Based on each explosive disposal risk factor, a plurality of potential risk points are screened out from a plurality of key feature points; the explosive disposal risk factor corresponding to the potential risk point is greater than a preset risk factor threshold.

[0087] Specifically, in this technical solution, based on the previously calculated explosive disposal risk factor, feature points whose risk factors are higher than a preset risk factor threshold are identified, and these points are regarded as potential risk points. The preset risk factor threshold can be determined based on historical data analysis or expert knowledge. Therefore, the value of the preset risk factor threshold is not specifically limited in this solution.

[0088] Determine whether all potential danger points are on the preset bomb disposal route.

[0089] Specifically, in the present technical solution, it is determined whether all potential danger points are on the preset explosive disposal route, that is, the distribution of all potential danger points on the preset explosive disposal route is analyzed.

[0090] If there is at least one potential danger point that is not on the preset bomb disposal route, the potential danger point positions corresponding to each potential danger point are obtained.

[0091] Specifically, in this technical solution, if some potential danger points are not on the preset EOD route, the route needs to be adjusted to cover these points. On the basis of ensuring safety, the preset EOD route is adjusted to improve the efficiency of EOD and avoid unnecessary repeated coverage or detours.

[0092] It should be noted that if all potential danger points are on the preset bomb disposal routes, there is no need to adjust the preset bomb disposal routes, and the bomb disposal robot can be directly controlled to perform bomb disposal work according to each preset bomb disposal route.

[0093] Based on the potential danger point position and the explosive ordnance disposal risk factor corresponding to each potential danger point, the explosive ordnance disposal priority corresponding to each potential danger point is obtained.

[0094] Specifically, in the present technical solution, the priority of processing these potential danger points is determined based on the potential danger point positions and the explosive detonation hazard coefficients corresponding to each potential danger point, that is, considering the hazard coefficient and position of each potential danger point.

[0095] The following embodiments will explain in detail the specific method for obtaining the bomb disposal priority corresponding to each potential danger point based on the potential danger point position and the bomb disposal risk coefficient corresponding to each potential danger point.

[0096] Based on each EOD priority and path planning algorithm, the actual EOD route is generated.

[0097] Specifically, in this technical solution, a suitable path planning algorithm, such as the A* algorithm or the Dijkstra algorithm, is selected to generate an effective dynamic path according to the current position of the bomb disposal robot and the bomb disposal priority of each potential danger point.

[0098] For example, assume that the bomb disposal priorities corresponding to the calculated potential danger points are arranged from high to low as potential danger point B, potential danger point A, and potential danger point C. The bomb disposal robot will first start from the initial position, take the initial position as the current position, and determine the shortest path to the potential danger point B based on the bomb disposal priorities and path planning algorithms. Then, take the potential danger point B as the current position, and determine the shortest path to the potential danger point A based on the bomb disposal priorities and path planning algorithms. Then, take the potential danger point A as the current position, and determine the shortest path to the potential danger point C based on the bomb disposal priorities and path planning algorithms.

[0099] In a possible implementation, based on the potential danger point position and the explosive ordnance disposal risk coefficient corresponding to each potential danger point, obtaining the explosive ordnance disposal priority corresponding to each potential danger point specifically includes the following steps:

[0100] Get the current position of the EOD robot.

[0101] Specifically, in this technical solution, the processor of the bomb disposal robot will determine the current location of the bomb disposal robot based on the current GPS location of the bomb disposal robot, and determine the distance between the current location and the location of each potential danger point to determine the current location of the bomb disposal robot. That is, the potential danger point B is taken as the current location, the potential danger point A is taken as the current location, etc., as exemplified in the above embodiments.

[0102] Based on the current position and the position of each potential danger point, determine the distance between each potential danger point and the bomb disposal robot.

[0103] Specifically, in the present technical solution, in the above example, when the current position is the initial position, the processor of the bomb disposal robot will determine the distance between the potential danger point A, the potential danger point B, the potential danger point C and the current bomb disposal robot. When the current position is the potential danger point B, the processor of the bomb disposal robot will determine the distance between the potential danger point A, the potential danger point C and the current bomb disposal robot.

[0104] Based on each explosives disposal risk factor and each interval distance, the explosives disposal priority corresponding to each potential danger point is calculated.

[0105] The bomb disposal priority corresponding to each potential danger point is calculated by the following formula:

[0106]

[0107] Among them, P i is the EOD priority corresponding to the ith potential danger point, C i is the explosive discharge risk coefficient corresponding to the ith potential danger point, max(C) is the maximum explosive discharge risk coefficient corresponding to all potential danger points, min(C) is the minimum explosive discharge risk coefficient corresponding to all potential danger points, D i is the interval distance corresponding to the ith potential danger point, max(D) is the maximum interval distance corresponding to all potential danger points, min(D) is the minimum interval distance corresponding to all potential danger points, w1 is the risk factor weight, and w2 is the distance factor weight.

[0108] Specifically, in the present technical solution, the risk factor is standardized to between 0 and 1 by subtracting the minimum risk factor from the bomb disposal risk factor and dividing the result by the difference between the maximum and minimum risk factors, so that the risk factors of different feature points can be compared with each other.

[0109] By considering the physical distance between the feature point and the current position of the bomb disposal robot or other reference points, and using the maximum distance to subtract the actual distance and standardize it, potential danger points that are close can get higher scores, thereby reflecting the relative importance of the distance factor in the bomb disposal priority.

[0110] Then adjust the weight of the risk factor and the distance factor according to the task characteristics and on-site conditions, where the distance factor weight is greater than the adjusted risk factor weight. This solution does not specifically limit the values ​​of the risk factor weight and the distance factor weight.

[0111] Step S7: Control the bomb disposal robot to perform bomb disposal work according to each actual bomb disposal route.

[0112] Specifically, in this technical solution, after obtaining the actual bomb disposal route, the processor of the bomb disposal robot will send a control signal to drive the bomb disposal robot to perform bomb disposal work in each bomb disposal sub-section according to the actual bomb disposal route corresponding to each bomb disposal sub-section.

[0113] It should be noted that when the bomb disposal robot is performing bomb disposal work, if it cannot automatically handle a certain bomb disposal work, the processor of the bomb disposal robot will send a warning signal to the terminal device of the bomb disposal robot manager, and the bomb disposal robot manager will then remotely operate the bomb disposal robot to perform the bomb disposal work.

[0114] Reference Figure 2 , which shows a structural schematic diagram of a bomb disposal robot control system provided in an embodiment of the present application, the system includes an acquisition module 1, a processing module 2 and a control module 3; the acquisition module 1 is used to acquire the current terrain information and the preset bomb disposal overall route corresponding to the current bomb disposal section; the processing module 2 is used to segment the current bomb disposal section and the preset bomb disposal overall route based on the current terrain information, and obtain multiple bomb disposal sub-sections and preset bomb disposal routes corresponding to each bomb disposal sub-section; the acquisition module 1 is also used to acquire the environmental images collected by the bomb disposal robot when performing bomb disposal work in each bomb disposal sub-section; the processing module 2 is also used to obtain multiple key feature points corresponding to each bomb disposal sub-section based on each environmental image; the processing module 2 is also used to determine the bomb disposal hazard coefficient corresponding to each key feature point based on the multiple key feature points; the processing module 2 is also used to adjust the preset bomb disposal route based on each bomb disposal hazard coefficient to obtain the actual bomb disposal route corresponding to each bomb disposal sub-section; the control module 3 is used to control the bomb disposal robot to perform bomb disposal work according to each actual bomb disposal route.

[0115] In a possible implementation, processing module 2 is also used to input current terrain information into a geographic information system for analysis to obtain multiple terrain features; processing module 2 is also used to obtain a segmentation standard based on multiple terrain features and preset bomb disposal task requirements; processing module 2 is also used to segment the current bomb disposal section based on the segmentation standard to obtain multiple bomb disposal sub-sections; processing module 2 is also used to determine the preset bomb disposal route corresponding to each bomb disposal sub-section based on the correspondence between the current bomb disposal section and the preset bomb disposal overall route.

[0116] In a possible implementation, the processing module 2 is also used to perform image preprocessing on each environmental image to obtain each preprocessed environmental image; the processing module 2 is also used to perform image enhancement processing on each preprocessed environmental image to obtain each detection image; the processing module 2 is also used to extract multiple environmental features from each detection image based on a computer vision algorithm; the processing module 2 is also used to identify multiple environmental features and determine multiple key features corresponding to each bomb disposal sub-section; the processing module 2 is also used to accurately calibrate multiple key features in the corresponding bomb disposal sub-section to obtain multiple key feature points.

[0117] In a possible implementation, the processing module 2 is also used to determine the feature point type corresponding to each key feature point based on each key feature; the processing module 2 is also used to perform contour recognition on each key feature point to obtain the feature point area corresponding to each key feature point; the acquisition module 1 is also used to obtain the dangerous area position corresponding to the known dangerous area in each bomb disposal sub-section and the feature point position corresponding to each key feature point; the processing module 2 is also used to obtain the relative position of the feature point corresponding to each key feature point based on the position of each feature point and the dangerous area position; the processing module 2 is also used to calculate the bomb disposal hazard coefficient corresponding to each key feature point based on each feature point type, each feature point area and each feature point relative position.

[0118] In a possible implementation, processing module 2 is further used to determine the type score corresponding to each key feature point based on the type of each feature point; processing module 2 is further used to determine the relative position score corresponding to each key feature point based on the relative position of each feature point; processing module 2 is further used to calculate the bomb disposal hazard coefficient corresponding to each key feature point based on each type score, each feature point area and each relative position score; processing module 2 is further used to calculate the bomb disposal hazard coefficient by the following formula: C=αX+βln(Y)+γZ; wherein C is the bomb disposal hazard coefficient, X is the type score, Y is the feature point area, Z is the relative position score, α is the type influence weight, β is the area influence weight, and γ is the relative position influence weight.

[0119] In a possible implementation, the processing module 2 is also used to screen out multiple potential danger points from multiple key feature points based on each explosive disposal hazard coefficient; the explosive disposal hazard coefficient corresponding to the potential danger point is greater than a preset hazard coefficient threshold; the processing module 2 is also used to determine whether all potential danger points are on the preset explosive disposal route; the acquisition module 1 is also used to obtain the potential danger point position corresponding to each potential danger point when there is at least one potential danger point that is not on the preset explosive disposal route; the processing module 2 is also used to obtain the explosive disposal priority corresponding to each potential danger point based on the potential danger point position and the explosive disposal hazard coefficient corresponding to each potential danger point; the processing module 2 is also used to generate an actual explosive disposal route based on each explosive disposal priority and a path planning algorithm.

[0120] In a possible implementation, the acquisition module 1 is also used to obtain the current position of the bomb disposal robot; the processing module 2 is also used to determine the interval distance between each potential danger point and the bomb disposal robot based on the current position and the position of each potential danger point; the processing module 2 is also used to calculate the bomb disposal priority corresponding to each potential danger point based on each bomb disposal risk coefficient and each interval distance; the processing module 2 is also used to calculate the bomb disposal priority corresponding to each potential danger point by the following formula:

[0121]

[0122] Among them, P i is the EOD priority corresponding to the ith potential danger point, C i is the explosive discharge risk coefficient corresponding to the ith potential danger point, max(C) is the maximum explosive discharge risk coefficient corresponding to all potential danger points, min(C) is the minimum explosive discharge risk coefficient corresponding to all potential danger points, D i is the interval distance corresponding to the ith potential danger point, max(D) is the maximum interval distance corresponding to all potential danger points, min(D) is the minimum interval distance corresponding to all potential danger points, w1 is the risk factor weight, and w2 is the distance factor weight.

[0123] It should be noted that: when the device provided in the above embodiment realizes its function, only the division of the above functional modules is used as an example. In actual application, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0124] The present application also discloses an electronic device. Figure 3 , Figure 3The electronic device 300 may include: at least one processor 301 , at least one network interface 304 , a user interface 303 , a memory 305 , and at least one communication bus 302 .

[0125] The communication bus 302 is used to realize the connection and communication between these components.

[0126] The user interface 303 may include a display screen (Display) and a camera (Camera). The optional user interface 303 may also include a standard wired interface and a wireless interface.

[0127] The network interface 304 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0128] Among them, the processor 301 may include one or more processing cores. The processor 301 uses various interfaces and lines to connect various parts in the entire server, and executes various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 305, and calling data stored in the memory 305. Optionally, the processor 301 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 301 can integrate one or more combinations of a central processing unit (Central Processing Unit, CPU), a graphics processor (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 301, and it can be implemented by a single chip.

[0129] Among them, the memory 305 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 305 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 305 may optionally be at least one storage device located away from the aforementioned processor 301. Refer to Figure 3 , the memory 305 as a computer-readable storage medium may include an operating system, a network communication module, a user interface module and an application program.

[0130] exist Figure 3 In the electronic device 300 shown, the user interface 303 is mainly used to provide an input interface for the user and obtain the data input by the user; and the processor 301 can be used to call an application stored in the memory 305, and when executed by one or more processors 301, the electronic device 300 executes one or more methods in the above-mentioned embodiments. It should be noted that for the aforementioned method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required for the present application.

[0131] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0132] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0133] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0134] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0135] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: various media that can store program codes, such as USB flash drives, mobile hard drives, magnetic disks or optical disks.

[0136] The above are only exemplary embodiments of the present disclosure and cannot be used to limit the scope of the present disclosure. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the disclosure of the specification and the truth of practice, those skilled in the art will easily think of other embodiments of the present disclosure.

[0137] This application is intended to cover any variation, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the art not described in the present disclosure. The description and examples are to be regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A method for controlling an explosive disposal robot, characterized in that: The method comprises: Obtain the current terrain information corresponding to the current EOD section and the preset overall EOD route; Segmenting the current EOD section and the preset EOD overall route based on the current terrain information to obtain a plurality of EOD sub-sections and preset EOD routes corresponding to each of the EOD sub-sections; Acquire environmental images collected by the bomb disposal robot when performing bomb disposal work in each of the bomb disposal sub-sections; Based on each of the environmental images, a plurality of key feature points corresponding to each of the bomb disposal sub-sections are obtained; Based on the plurality of key feature points, determining the explosive hazard coefficient corresponding to each of the key feature points; Based on each of the said explosive hazard coefficients, the said preset explosive hazard route is adjusted to obtain the actual explosive hazard route corresponding to each of the said explosive hazard sub-sections; Controlling the bomb disposal robot to perform bomb disposal work according to each of the actual bomb disposal routes; The step of segmenting the current EOD section and the preset EOD overall route based on the current terrain information to obtain a plurality of EOD sub-sections and preset EOD routes corresponding to each of the EOD sub-sections specifically includes: Inputting the current terrain information into a geographic information system for analysis to obtain a plurality of terrain features; Based on the plurality of terrain features and preset bomb disposal task requirements, a segmentation standard is obtained; Segmenting the current EOD section based on the segmentation standard to obtain a plurality of EOD sub-sections; Based on the correspondence between the current EOD section and the preset EOD overall route, determining the preset EOD routes corresponding to the respective EOD sub-sections; Wherein, based on each of the environmental images, a plurality of key feature points corresponding to each of the bomb disposal sub-sections are obtained, specifically including: Performing image preprocessing on each of the environment images to obtain each preprocessed environment image; Performing image enhancement processing on each of the pre-processed environment images to obtain each detection image; Extracting multiple environmental features from each of the detection images based on a computer vision algorithm; Identify a plurality of the environmental features to determine a plurality of key features corresponding to each of the bomb disposal sub-sections; Accurately calibrate the plurality of key features in the corresponding EOD sub-sections to obtain a plurality of key feature points; Wherein, determining the explosive hazard coefficient corresponding to each of the key feature points based on the plurality of key feature points specifically includes: Based on each of the key features, determining a feature point type corresponding to each of the key feature points; Performing contour recognition on each of the key feature points to obtain the feature point area corresponding to each of the key feature points; Obtaining the dangerous area position corresponding to the known dangerous area in each of the EOD sub-sections and the feature point position corresponding to each of the key feature points; Based on the positions of the feature points and the position of the dangerous area, the relative positions of the feature points corresponding to the key feature points are obtained; Based on the type of each feature point, the area of ​​each feature point and the relative position of each feature point, the explosive hazard coefficient corresponding to each key feature point is calculated; The method of calculating the explosive hazard coefficient corresponding to each of the key feature points based on the type of each feature point, the area of ​​each feature point and the relative position of each feature point specifically includes: Based on the types of the feature points, determining a type score corresponding to each of the key feature points; Based on the relative position of each of the feature points, determine the relative position score corresponding to each of the key feature points; Based on each of the type scores, each of the feature point areas and each of the relative position scores, the explosive hazard coefficient corresponding to each of the key feature points is calculated; The explosion hazard coefficient is calculated by the following formula: C = αX + βln(Y) + γZ; Wherein, C is the explosive disposal risk coefficient, X is the type score, Y is the area of ​​the feature point, Z is the relative position score, α is the type influence weight, β is the area influence weight, and γ is the relative position influence weight; The step of adjusting the preset explosive disposal route based on each explosive disposal risk coefficient to obtain the actual explosive disposal route corresponding to each explosive disposal sub-section specifically includes: Based on each of the said explosive disposal risk coefficients, a plurality of potential danger points are screened out from the plurality of said key feature points; the explosive disposal risk coefficient corresponding to the said potential danger point is greater than a preset risk coefficient threshold; Determine whether all the potential danger points are on the preset bomb disposal route; If there is at least one potential danger point that is not on the preset bomb disposal route, obtaining the potential danger point position corresponding to each potential danger point; Based on the potential danger point position corresponding to each potential danger point and the explosive ordnance disposal risk coefficient, obtaining the explosive ordnance disposal priority corresponding to each potential danger point; Based on each of the EOD priorities and the path planning algorithm, generating the actual EOD route; Wherein, obtaining the bomb disposal priority corresponding to each of the potential danger points based on the potential danger point position corresponding to each of the potential danger points and the bomb disposal risk coefficient specifically includes: Get the current position of the bomb disposal robot; Based on the current position and the position of each of the potential danger points, determining the interval distance between each of the potential danger points and the bomb disposal robot; Based on each of the explosive disposal risk coefficients and each of the interval distances, the explosive disposal priority corresponding to each of the potential danger points is calculated; The bomb disposal priority corresponding to each potential danger point is calculated by the following formula: Among them, P i is the EOD priority corresponding to the i-th potential danger point, C i is the explosive disposal risk coefficient corresponding to the ith potential danger point, max(C) is the maximum value of the explosive disposal risk coefficients corresponding to all the potential danger points, min(C) is the minimum value of the explosive disposal risk coefficients corresponding to all the potential danger points, D i is the interval distance corresponding to the ith potential danger point, max(D) is the maximum value of the interval distances corresponding to all the potential danger points, min(D) is the minimum value of the interval distances corresponding to all the potential danger points, w1 is the risk factor weight, and w2 is the distance factor weight.

2. A bomb disposal robot control system, which is used to execute the bomb disposal robot control method according to claim 1, characterized in that: The system includes an acquisition module, a processing module and a control module; The acquisition module is used to acquire the current terrain information corresponding to the current EOD section and the preset overall EOD route; The processing module is used to segment the current EOD section and the preset EOD overall route based on the current terrain information to obtain a plurality of EOD sub-sections and preset EOD routes corresponding to each of the EOD sub-sections; The acquisition module is further used to acquire environmental images collected by the bomb disposal robot when performing bomb disposal work in each of the bomb disposal sub-sections; The processing module is further used to obtain a plurality of key feature points corresponding to each of the explosive ordnance disposal sub-sections based on each of the environmental images; The processing module is further used to determine the explosive hazard coefficient corresponding to each of the key feature points based on the multiple key feature points; The processing module is further used to adjust the preset explosive disposal route based on each explosive disposal risk coefficient to obtain an actual explosive disposal route corresponding to each explosive disposal sub-section; The control module is used to control the bomb disposal robot to perform bomb disposal work according to each of the actual bomb disposal routes.

3. An electronic device, characterized in that: The electronic device (300) comprises a processor (301), a memory (305), a user interface (303) and a network interface (304), wherein the memory (305) is used to store instructions, the user interface (303) and the network interface (304) are used to communicate with other devices, and the processor (301) is used to execute the instructions stored in the memory (305) so that the electronic device (300) executes the method as claimed in claim 1.

4. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed, the method according to claim 1 is performed.

Images