A fire host guard robot control system

Abstract

The invention discloses a fire host on-duty robot control system, which relates to the technical field of fire on-duty robot control, and comprises a data acquisition terminal, a keyboard plane image acquisition terminal, a key position control point acquisition terminal, a historical control data analysis terminal, a correction value acquisition terminal and an actual movement distance acquisition terminal; by correcting the real-time predicted movement distances corresponding to the tentacle on the transverse driving axis and the longitudinal driving axis respectively, thereby obtaining the transverse actual movement distance and the longitudinal actual movement distance corresponding to the tentacle on the transverse driving axis and the longitudinal driving axis respectively, and controlling the movement of the tentacle according to the transverse actual movement distance and the longitudinal actual movement distance corresponding to the tentacle on the transverse driving axis and the longitudinal driving axis respectively, reducing the position deviation between the operation point corresponding to the operation key position and the key position control point of the operation key position when the tentacle performs each operation, so as to improve the accuracy of the tentacle when performing operation.

Description

Technical Field

[0001] The present invention relates to the technical field of fire-fighting duty robot control, and in particular to a fire-fighting host duty robot control system. Background Art

[0002] The fire host attendant robot is suitable for a variety of fire prevention and control scenarios, such as high-rise buildings, chemical parks, warehouses and other fire-prone areas. Through automation and intelligent means, it improves the efficiency and safety of fire prevention and control and reduces the direct risks of firefighters. The fire host attendant robot control system integrates a variety of advanced technologies and equipment, and has the functions of autonomous navigation, fire source detection, fire extinguishing operations, environmental monitoring and remote control, which can play an important role in fire prevention and control.

[0003] The fire control room duty robot consists of the fire control room duty robot terminal box (power supply, control panel, driver, touch screen, emergency pause button, backup battery, hard disk recorder, etc.), the fire control room duty robot body (power supply, motor, travel guide (ball screw), tentacles, limiter, etc.), network camera, infrared aimer, etc. The fire control room duty robot terminal box is connected to the fire control room duty robot body to control and program various commands and communicate with the host computer platform; the network camera is used to collect the scene picture and voice in real time, and voice intercom can be carried out; the current fire control room duty robot system can remotely and automatically operate various buttons of the alarm host (fire automatic alarm control robot exchange disk buttons, bus disk buttons, multi-line disk buttons, fire broadcast host buttons, fire telephone host buttons, etc.) through the mechanical structure (external tentacles), thereby "replacing" the fire control room personnel on duty and reducing the investment of social units in duty personnel.

[0004] The patent publication number CN221160349U discloses a portable fire control room duty robot, comprising two first crawler rails arranged in parallel along the X-axis direction and a second crawler rail vertically connected to the two first crawler rails; a first drive motor is arranged at the end of the first crawler rail; a second drive motor is arranged at the end of the second crawler rail; the second crawler rail is connected to the first crawler rail through a sliding connection; the sliding connection is connected to the second rail through a first fixed seat; the sliding connection comprises a driving wheel and a driven wheel; the second crawler rail is connected to the sliding connection through a second fixed seat; a tentacle is arranged on the second fixed seat: the volume of the crawler rail can be adjusted according to the use requirements, thereby reducing the overall mass; the volume and mass of the drive motor are also further reduced and reduced, reducing the operating pressure of the overall robot and increasing the operating speed of the overall motor, so as to execute the corresponding command operation faster;

[0005] However, due to the change in the usage time of the horizontal drive axis and the longitudinal drive axis of the fire host robot, there is a deviation between the tentacle operation point and the key control point, resulting in inaccurate tentacle operation; based on this, a fire host guard robot control system is proposed. Summary of the invention

[0006] The purpose of the present invention is to provide a fire host guard robot control system, which solves the technical problem of inaccurate tentacle operation caused by the deviation between the tentacle operation point and the key control point due to the change in the usage time of the fire host robot's transverse drive axis and longitudinal drive axis.

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] A fire host guard robot control system, comprising:

[0009] The data acquisition end acquires the corresponding operation key position of the guard robot's tentacle in each operation, as well as the operation point of the tentacle at the corresponding operation key position;

[0010] A keyboard plane image acquisition terminal acquires a plane image of the fire host keyboard;

[0011] The key position control point acquisition end uses the center point of the contour line of each key position in the keyboard plane image as the key position control point corresponding to each key position;

[0012] The historical control data analysis end comprehensively analyzes the usage time of the horizontal drive axis and the longitudinal drive axis of the fire host robot, and the key control points and operation points of the robot tentacles to obtain the tentacles' horizontal drive influence coefficient and longitudinal drive influence coefficient as well as the horizontal deviation value and the longitudinal deviation value;

[0013] The correction value acquisition end comprehensively analyzes the lateral driving influence coefficient and the longitudinal driving influence coefficient of the tentacle as well as the lateral deviation value and the longitudinal deviation value and the real-time use time of the lateral driving axis and the longitudinal driving axis to obtain the lateral correction calculation formula and the longitudinal correction calculation formula of the tentacle, and calculates the lateral correction value and the longitudinal correction value corresponding to the tentacle according to the lateral correction calculation formula and the longitudinal correction calculation formula of the tentacle;

[0014] The actual moving distance acquisition end obtains the actual lateral moving distance and the actual longitudinal moving distance of the tentacle according to the lateral correction value and the longitudinal correction value corresponding to the tentacle, and the real-time estimated moving distance corresponding to the lateral driving axis and the longitudinal driving axis respectively;

[0015] The control end controls the movement of the tentacle according to the actual lateral movement distance and the actual longitudinal movement distance corresponding to the tentacle on the lateral driving axis and the longitudinal driving axis respectively.

[0016] As a further solution of the present invention: the specific method of obtaining the lateral driving influence coefficient and the longitudinal driving influence coefficient of the tentacle as well as the lateral deviation value and the longitudinal deviation value is:

[0017] A two-dimensional coordinate system is established in the keyboard plane image to obtain the key control point coordinates corresponding to each key position, and at the same time, the operation point coordinates corresponding to each key position of the tentacle in the preset operation times n are obtained, as well as the use time TAn and TBn corresponding to each operation of the horizontal drive axis and the longitudinal drive axis of the fire host robot in the preset operation times n, where n is the preset value number of times, n is a positive integer, and satisfies 200≥n≥1;

[0018] Mark the difference between the horizontal coordinate and the vertical coordinate between the coordinate of the key operation point and the key control point coordinate at each operation of the tentacle as BAn and BBn, take the usage time TAn corresponding to the horizontal drive axis at each operation as the horizontal coordinate, and take BAn as the vertical coordinate value, obtain the coordinates Q (TAn, BAn) of each data point, obtain the ratio Eb between the horizontal coordinate difference and the vertical coordinate difference between each adjacent data point coordinate Q, obtain the number e, r and w of positive values, negative values ​​and 0 values ​​in Eb, analyze the numbers e, r and w, and obtain the deviation value LA and the horizontal drive influence coefficient HA corresponding to the horizontal drive axis of the tentacle according to the analysis results, where b=n-1;

[0019] The same method as that used to obtain the lateral driving influence coefficient and lateral deviation value of the tentacle is adopted to analyze and obtain the longitudinal deviation value LB and the longitudinal driving influence coefficient HB corresponding to the longitudinal driving axis of the tentacle.

[0020] As a further solution of the present invention: the specific method of analyzing the quantities e, r and w to obtain the deviation value LA and the lateral drive influence coefficient HA corresponding to the lateral drive axis of the tentacle is:

[0021] When w is greater than 0.5n, the mean BAp of the horizontal coordinate difference BAn is taken as the deviation value LA corresponding to the lateral drive axis of the tentacle, and the lateral drive influence coefficient HA of the tentacle is marked as 0;

[0022] When w is greater than 0.5n, the mean BAp of the horizontal coordinate difference BAn is taken as the deviation value LA corresponding to the lateral drive axis of the tentacle, and the lateral drive influence coefficient HA of the tentacle is marked as 0;

[0023] When w is less than or equal to 0.5n, a comparative analysis is performed on the size of e and r, and the deviation value and the lateral drive influence coefficient corresponding to the lateral drive axis of the tentacle are obtained according to the analysis results.

[0024] As a further solution of the present invention: when w is less than or equal to 0.5, the specific method of comparing and analyzing the size between e and r is:

[0025] When e is equal to r, the mean BAp of the horizontal coordinate difference BAn is used as the lateral deviation value LA corresponding to the lateral drive axis of the tentacle, and the lateral drive influence coefficient HA of the tentacle is marked as 0. When e is greater than r, the mean of the positive values ​​in Eb is used as the lateral drive influence coefficient HA of the tentacle, and the lateral deviation value LA corresponding to the lateral drive axis of the tentacle is marked as 0. When r is greater than e, the mean of the negative values ​​in Eb is used as the lateral drive influence coefficient HA of the tentacle, and the lateral deviation value LA corresponding to the lateral drive axis of the tentacle is marked as 0.

[0026] As a further solution of the present invention: According to the lateral correction calculation formula and the longitudinal correction calculation formula of the tentacle, the specific method of obtaining the lateral correction value and the longitudinal correction value corresponding to the tentacle is:

[0027] The real-time usage time of the lateral drive shaft and the longitudinal drive shaft are marked as JA and JB respectively. The lateral correction calculation formula of the tentacle is: RA=JA×HA+LA; the longitudinal correction calculation formula is: RB=JB×HB+LB. Through the lateral correction calculation formula and the longitudinal correction calculation formula of the tentacle, the corresponding lateral correction value RA and the longitudinal correction value RB of the tentacle can be obtained.

[0028] As a further solution of the present invention: the specific method of obtaining the actual lateral movement distance and the actual longitudinal movement distance of the tentacle on the lateral drive shaft and the longitudinal drive shaft respectively is:

[0029] Before each operation of the tentacle, the real-time expected movement distances UA and UB of the tentacle on the lateral drive axis and the longitudinal drive axis respectively are obtained, and the sum of the expected movement distance UA and the lateral correction value RA is defined as the actual lateral movement distance GA of the tentacle on the lateral drive axis, and the sum of the expected movement distance UB and the longitudinal correction value RB is defined as the actual longitudinal movement distance GB of the tentacle on the longitudinal drive axis.

[0030] As a further solution of the present invention: it also includes a fault signal generating terminal;

[0031] At the fault signal generating end, the sum W of the lateral correction value RA and the longitudinal correction value RB corresponding to the tentacle is obtained. When W is greater than the preset value Y1, a fault signal is generated. When W is less than or equal to the preset value Y1, no processing is performed.

[0032] Beneficial effects of the present invention:

[0033] (1) The present invention analyzes the influence of the use time of the transverse drive axis and the longitudinal drive axis of the fire host robot on the movement distance of the tentacles in the corresponding directions, and then corrects the real-time estimated movement distances of the tentacles on the transverse drive axis and the longitudinal drive axis, thereby obtaining the actual transverse movement distances and the actual longitudinal movement distances of the tentacles on the transverse drive axis and the longitudinal drive axis, respectively. The movement of the tentacles is controlled according to the actual transverse movement distances and the actual longitudinal movement distances of the tentacles on the transverse drive axis and the longitudinal drive axis, respectively, so as to reduce the position deviation between the operation point corresponding to the operation key position and the key position control point of the operation key position when the tentacles perform each operation, so as to improve the accuracy of the tentacles when performing operations;

[0034] (2) The present invention generates a fault signal to remind relevant personnel to promptly maintain and repair the horizontal drive shaft and the longitudinal drive shaft of the fire host robot to ensure the accuracy of the tentacles during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be further described below in conjunction with the accompanying drawings.

[0036] Figure 1 It is a schematic diagram of the system framework structure of the present invention;

[0037] Figure 2 It is a structural schematic diagram of a keyboard plane image according to the present invention. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] Embodiment 1

[0040] See also Figure 1-Figure 2 As shown, the present invention is a fire host on-duty robot control system, comprising:

[0041] The data acquisition end acquires the historical control data of the tentacle of the guard robot, and the historical control data includes the corresponding operation key position of the tentacle in each operation, and the operation point of the tentacle at the corresponding operation key position;

[0042] It should be noted that when the robot tentacle reaches out to the fire host and presses a key on the keyboard, the system can accurately capture the coordinate position of the contact point between the tentacle and the key, and record this position information as the operation point, which is helpful for subsequent analysis and optimization of the operation behavior of the tentacle to improve the accuracy and efficiency of the operation. The operation point of the corresponding operation key is mechanically acquired and recorded through a specially designed position monitoring device. This position monitoring device may include a high-precision sensor, such as a photoelectric sensor, a pressure sensor, or a displacement sensor. For example, when the robot tentacle reaches out to the fire host and presses a key on the keyboard, the system can accurately capture the coordinate position of the contact point between the tentacle and the key, and record this position information as the operation point. The above is an existing and mature technology, so it will not be repeated;

[0043] The keyboard plane image acquisition terminal is used to acquire the plane image of the fire host by pressing the keyboard;

[0044] The key position control point acquisition end acquires the contour lines of each key position in the keyboard plane image, obtains the contour center points of each key position in the keyboard plane image according to the contour lines of each key position in the keyboard plane image, and uses them as the key position control points corresponding to each key position in the keyboard plane image;

[0045] At the historical control data analysis end, the use time of the transverse drive axis and the longitudinal drive axis of the fire host robot are comprehensively analyzed with the historical control data of the robot tentacles to obtain the transverse drive influence coefficient and the longitudinal drive influence coefficient of the tentacles as well as the transverse deviation value and the longitudinal deviation value. Specifically, a two-dimensional coordinate system is established in the keyboard plane image to obtain the key control point coordinates corresponding to each key position, and at the same time, the operation point coordinates corresponding to each key position of the tentacle in the preset operation times n are obtained. The horizontal coordinate difference and the vertical coordinate difference between the operation point coordinates and the key control point coordinates are respectively combined with the use time of the transverse drive axis and the longitudinal drive axis of the fire host robot for analysis, and the transverse drive influence coefficient and the longitudinal drive influence coefficient of the tentacle as well as the transverse deviation value and the longitudinal deviation value are obtained according to the analysis results.

[0046] First, the key control point coordinates corresponding to each key position in the keyboard plane image are marked as Zi (ZXi, ZYi), where ZXi refers to different key control points, i=1, 2, ..., a, where a is a positive integer, a≥1, and the corresponding usage time TAn and TBn of the horizontal drive axis and the longitudinal drive axis of the fire host robot in each operation in the preset operation times n are obtained, and at the same time, the operation point coordinates Cn (CXn, CYn) corresponding to each key position of the tentacle in the preset operation times n are obtained, where n is the preset value number, n is a positive integer, and satisfies 200≥n≥1;

[0047] Obtain the key control point coordinates of the operation key corresponding to each operation of the tentacle in the preset operation times n and the operation point coordinates corresponding to the operation key, obtain the difference between the horizontal coordinate and the vertical coordinate between the operation point coordinates of the operation key and the key control point coordinates, and mark them as BAn and BBn respectively;

[0048] The usage time TAn corresponding to each operation of the horizontal drive axis of the fire host robot in the preset operation times n is used as the horizontal coordinate value, and the horizontal coordinate difference BAn between the operation point coordinate of the operation key position and the key control point coordinate is matched with the usage time TAn one by one, and used as the vertical coordinate value, thereby obtaining the coordinates Q (TAn, BAn) of each data point;

[0049] Obtain the ratio Eb between the difference in the horizontal coordinate and the difference in the vertical coordinate between each adjacent data point coordinate Q, where b=n-1, and obtain the number of positive values, negative values, and the number of 0 values ​​e, r, and w in Eb;

[0050] When w is greater than 0.5n, the mean BAp of the horizontal coordinate difference BAn is taken as the deviation value LA corresponding to the lateral drive axis of the tentacle, and the lateral drive influence coefficient HA of the tentacle is marked as 0;

[0051] When w is less than or equal to 0.5n, compare the sizes of e and r. When e is equal to r, use the mean BAp of the horizontal coordinate difference BAn as the lateral deviation value LA corresponding to the lateral drive axis of the tentacle, and mark the lateral drive influence coefficient HA of the tentacle as 0. When e is greater than r, use the mean of the positive values ​​in Eb as the lateral drive influence coefficient HA of the tentacle, and mark the lateral deviation value LA corresponding to the lateral drive axis of the tentacle as 0. When r is greater than e, use the mean of the negative values ​​in Eb as the lateral drive influence coefficient HA of the tentacle, and mark the lateral deviation value LA corresponding to the lateral drive axis of the tentacle as 0.

[0052] The same method as that used to obtain the lateral driving influence coefficient and lateral deviation value of the tentacle is adopted to analyze and obtain the longitudinal deviation value LB and the longitudinal driving influence coefficient HB corresponding to the longitudinal driving axis of the tentacle;

[0053] The correction value acquisition end comprehensively analyzes the lateral driving influence coefficient and longitudinal driving influence coefficient of the tentacle as well as the lateral deviation value and longitudinal deviation value and the real-time use time of the lateral driving axis and the longitudinal driving axis, and then obtains the lateral correction calculation formula and the longitudinal correction calculation formula of the tentacle. According to the lateral correction calculation formula and the longitudinal correction calculation formula of the tentacle, the lateral correction value and the longitudinal correction value corresponding to the tentacle are calculated, and the specific method is as follows:

[0054] The real-time usage duration of the transverse drive shaft and the longitudinal drive shaft is marked as JA and JB respectively, and the real-time usage duration of the transverse drive shaft and the longitudinal drive shaft is obtained before each operation of the tentacle;

[0055] The calculation formula for the lateral correction of the tentacle is: RA=JA×HA+LA; the calculation formula for the longitudinal correction is: RB=JB×HB+LB;

[0056] Through the lateral correction calculation formula and longitudinal correction calculation formula of the tentacle, the lateral correction value RA and longitudinal correction value RB corresponding to the tentacle can be obtained;

[0057] It should be noted that in order to avoid the continuous change of the usage time corresponding to the horizontal drive axis and the longitudinal drive axis of the fire host robot, which will affect the subsequent calculation and analysis, before each operation of the tentacle, the usage time corresponding to the horizontal drive axis and the longitudinal drive axis is obtained as the real-time usage time corresponding to this operation, and the real-time usage time of the horizontal drive axis and the longitudinal drive axis in the horizontal correction calculation formula and the longitudinal correction calculation formula of the tentacle is updated;

[0058] The actual moving distance acquisition end calculates the actual lateral moving distance and the actual longitudinal moving distance of the tentacle on the lateral driving axis and the longitudinal driving axis respectively according to the lateral correction value and the longitudinal correction value corresponding to the tentacle, and the real-time estimated moving distance of the tentacle on the lateral driving axis and the longitudinal driving axis respectively. The specific method is as follows:

[0059] Before each operation of the tentacle, the real-time estimated moving distances UA and UB of the tentacle corresponding to the transverse drive axis and the longitudinal drive axis respectively are obtained in real time, and the sum of the estimated moving distance UA and the transverse correction value RA is defined as the actual transverse moving distance GA of the tentacle on the transverse drive axis, and the sum of the estimated moving distance UB and the longitudinal correction value RB is defined as the actual longitudinal moving distance GB of the tentacle on the longitudinal drive axis;

[0060] The control end controls the movement of the tentacle according to the actual lateral movement distance and the actual longitudinal movement distance of the tentacle on the lateral driving axis and the longitudinal driving axis respectively;

[0061] According to the influence of the use time of the transverse driving axis and the longitudinal driving axis of the fire host robot on the moving distance of the tentacles in the corresponding directions, the real-time expected moving distances of the tentacles on the transverse driving axis and the longitudinal driving axis are corrected, so as to obtain the actual transverse moving distances and the actual longitudinal moving distances of the tentacles on the transverse driving axis and the longitudinal driving axis respectively. The movement of the tentacles is controlled according to the actual transverse moving distances and the actual longitudinal moving distances of the tentacles on the transverse driving axis and the longitudinal driving axis respectively, so as to reduce the position deviation between the operating point corresponding to the operating key position and the key control point of the operating key position when the tentacles perform each operation, so as to improve the accuracy of the tentacles when performing operations.

[0062] Embodiment 2

[0063] As the second embodiment of the present invention, when the present application is implemented, compared with the first embodiment, the technical solution of the present embodiment is different from the first embodiment only in that in the present embodiment, the fault signal generating end;

[0064] The fault signal generating end performs a comprehensive analysis on the lateral correction value and the longitudinal correction value corresponding to the tentacle, and determines the generation of a fault signal according to the analysis result. The specific method is as follows:

[0065] Obtain the sum W of the lateral correction value RA and the longitudinal correction value RB corresponding to the tentacle. When W is greater than the preset value Y1, a fault signal is generated. When W is less than or equal to the preset value Y1, no processing is performed. The specific value of the preset value Y1 is formulated by relevant personnel according to actual needs;

[0066] When the sum of the lateral correction value and the longitudinal correction value corresponding to the tentacle is greater than the preset value Y1, it means that the offset distance corresponding to the tentacle is large, and then a fault signal is generated to remind relevant personnel to promptly maintain and repair the lateral drive shaft and longitudinal drive shaft of the fire host robot to ensure the accuracy of the tentacles during operation.

[0067] Embodiment 3

[0068] As the third embodiment of the present invention, when the present application is specifically implemented, compared with the first and second embodiments, the technical solution of this embodiment is to combine the solutions of the first and second embodiments mentioned above for implementation.

[0069] The above formulas are all dimensionless and numerical calculations. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters and thresholds in the formula are set by technicians in this field according to actual conditions.

[0070] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A fire host guard robot control system, characterized in that: include: The data acquisition end acquires the corresponding operation key position of the guard robot's tentacle in each operation, as well as the operation point of the tentacle at the corresponding operation key position; A keyboard plane image acquisition terminal acquires a plane image of the fire host keyboard; The key position control point acquisition end uses the center point of the contour line of each key position in the keyboard plane image as the key position control point corresponding to each key position; The historical control data analysis end comprehensively analyzes the usage time of the horizontal drive axis and the longitudinal drive axis of the fire host robot, and the key control points and operation points of the robot tentacles to obtain the tentacles' horizontal drive influence coefficient and longitudinal drive influence coefficient as well as the horizontal deviation value and the longitudinal deviation value; The correction value acquisition end comprehensively analyzes the lateral driving influence coefficient and the longitudinal driving influence coefficient of the tentacle as well as the lateral deviation value and the longitudinal deviation value and the real-time use time of the lateral driving axis and the longitudinal driving axis to obtain the lateral correction calculation formula and the longitudinal correction calculation formula of the tentacle, and calculates the lateral correction value and the longitudinal correction value corresponding to the tentacle according to the lateral correction calculation formula and the longitudinal correction calculation formula of the tentacle; The actual moving distance acquisition end obtains the actual lateral moving distance and the actual longitudinal moving distance of the tentacle according to the lateral correction value and the longitudinal correction value corresponding to the tentacle, and the real-time estimated moving distance corresponding to the lateral driving axis and the longitudinal driving axis respectively; The control end controls the movement of the tentacle according to the actual lateral movement distance and the actual longitudinal movement distance corresponding to the tentacle on the lateral driving axis and the longitudinal driving axis respectively.

2. A fire host on-duty robot control system according to claim 1, characterized in that: The specific method for obtaining the lateral driving influence coefficient and the longitudinal driving influence coefficient of the tentacle as well as the lateral deviation value and the longitudinal deviation value is as follows: A two-dimensional coordinate system is established in the keyboard plane image to obtain the key control point coordinates corresponding to each key position, and at the same time, the operation point coordinates corresponding to each key position of the tentacle in the preset operation times n are obtained, as well as the use time TAn and TBn corresponding to each operation of the horizontal drive axis and the longitudinal drive axis of the fire host robot in the preset operation times n, where n is the preset value number of times, n is a positive integer, and satisfies 200≥n≥1; Mark the difference between the horizontal coordinate and the vertical coordinate between the coordinate of the key operation point and the key control point coordinate at each operation of the tentacle as BAn and BBn, take the usage time TAn corresponding to the horizontal drive axis at each operation as the horizontal coordinate, and take BAn as the vertical coordinate value, obtain the coordinates Q (TAn, BAn) of each data point, obtain the ratio Eb between the horizontal coordinate difference and the vertical coordinate difference between each adjacent data point coordinate Q, obtain the number e, r and w of positive values, negative values ​​and 0 values ​​in Eb, analyze the numbers e, r and w, and obtain the deviation value LA and the horizontal drive influence coefficient HA corresponding to the horizontal drive axis of the tentacle according to the analysis results, where b=n-1; The same method as that used to obtain the lateral driving influence coefficient and lateral deviation value of the tentacle is adopted to analyze and obtain the longitudinal deviation value LB and the longitudinal driving influence coefficient HB corresponding to the longitudinal driving axis of the tentacle.

3. A fire host on-duty robot control system according to claim 2, characterized in that: The specific method of analyzing the quantities e, r and w to obtain the deviation value LA and the lateral drive influence coefficient HA corresponding to the lateral drive axis of the tentacle is: When w is greater than 0.5n, the mean BAp of the horizontal coordinate difference BAn is taken as the deviation value LA corresponding to the lateral drive axis of the tentacle, and the lateral drive influence coefficient HA of the tentacle is marked as 0; When w is greater than 0.5n, the mean BAp of the horizontal coordinate difference BAn is taken as the deviation value LA corresponding to the lateral drive axis of the tentacle, and the lateral drive influence coefficient HA of the tentacle is marked as 0; When w is less than or equal to 0.5n, a comparative analysis is performed on the size of e and r, and the deviation value and the lateral drive influence coefficient corresponding to the lateral drive axis of the tentacle are obtained according to the analysis results.

4. A fire host on-duty robot control system according to claim 3, characterized in that: When w is less than or equal to 0.5, the specific method for comparing and analyzing the size between e and r is: When e is equal to r, the mean BAp of the horizontal coordinate difference BAn is used as the lateral deviation value LA corresponding to the lateral drive axis of the tentacle, and the lateral drive influence coefficient HA of the tentacle is marked as 0. When e is greater than r, the mean of the positive values ​​in Eb is used as the lateral drive influence coefficient HA of the tentacle, and the lateral deviation value LA corresponding to the lateral drive axis of the tentacle is marked as 0. When r is greater than e, the mean of the negative values ​​in Eb is used as the lateral drive influence coefficient HA of the tentacle, and the lateral deviation value LA corresponding to the lateral drive axis of the tentacle is marked as 0.

5. A fire host on-duty robot control system according to claim 4, characterized in that: According to the calculation formula for the lateral correction and the calculation formula for the longitudinal correction of the tentacle, the specific method for obtaining the lateral correction value and the longitudinal correction value corresponding to the tentacle is: The real-time usage time of the lateral drive shaft and the longitudinal drive shaft are marked as JA and JB respectively. The lateral correction calculation formula of the tentacle is: RA=JA×HA+LA; the longitudinal correction calculation formula is: RB=JB×HB+LB. Through the lateral correction calculation formula and the longitudinal correction calculation formula of the tentacle, the corresponding lateral correction value RA and the longitudinal correction value RB of the tentacle can be obtained.

6. A fire host on-duty robot control system according to claim 5, characterized in that: The specific method of obtaining the actual lateral movement distance and the actual longitudinal movement distance of the tentacle on the lateral drive axis and the longitudinal drive axis respectively is as follows; Before each operation of the tentacle, the real-time expected movement distances UA and UB of the tentacle on the lateral drive axis and the longitudinal drive axis respectively are obtained, and the sum of the expected movement distance UA and the lateral correction value RA is defined as the actual lateral movement distance GA of the tentacle on the lateral drive axis, and the sum of the expected movement distance UB and the longitudinal correction value RB is defined as the actual longitudinal movement distance GB of the tentacle on the longitudinal drive axis.

7. A fire host on-duty robot control system according to claim 5, characterized in that: Also includes a fault signal generating terminal; At the fault signal generating end, the sum W of the lateral correction value RA and the longitudinal correction value RB corresponding to the tentacle is obtained. When W is greater than the preset value Y1, a fault signal is generated. When W is less than or equal to the preset value Y1, no processing is performed.

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