Fire extinguishing control method, device and equipment and fire extinguishing robot

Abstract

The embodiment of the invention provides a control method, device and equipment for fire extinguishing and a fire extinguishing robot. The method comprises the following steps: when the fire extinguishing robot to which the control equipment belongs performs cruise motion in a scene in which the control equipment belongs, acquiring environment information around the fire extinguishing robot to which the control equipment belongs in real time; fire extinguishing control information is determined according to the environment information; the fire extinguishing control information indicates whether fire extinguishing treatment needs to be carried out or not; if the fire extinguishing control information indicates that fire extinguishing control processing needs to be carried out, a fire extinguishing robot to which the control equipment belongs is controlled to carry out fire extinguishing processing according to the fire extinguishing control information. The method is used for achieving the effect of improving the efficiency and accuracy of fire extinguishing control.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a control method, device, equipment and fire-fighting robot for fire-fighting. Background Art

[0002] For bank data centers, maintaining business continuity is the primary goal. In recent years, data center fire accidents have occurred frequently around the world, seriously affecting the company's business and development. And as the scale of data centers continues to expand and data processing continues to increase, the risk of fire has also increased accordingly.

[0003] Traditional environmental monitoring mainly relies on static sensors, and once a fire occurs, traditional methods rely on manual fire extinguishing.

[0004] However, the approach in the prior art may result in problems of low efficiency and poor accuracy in control for fire extinguishing. Summary of the invention

[0005] The embodiments of the present application provide a control method, device, equipment and fire-fighting robot for fire extinguishing, so as to achieve the effect of improving the efficiency and accuracy of the control for fire extinguishing.

[0006] In a first aspect, an embodiment of the present application provides a control method for fire extinguishing, which is applied to a control device of a fire extinguishing robot, wherein the fire extinguishing robot performs cruising motion in a scene in which it is located, and the method includes:

[0007] When the fire-fighting robot to which the control device belongs performs cruising in the scene in which it is located, environmental information around the fire-fighting robot to which the control device belongs is obtained in real time;

[0008] Determining fire extinguishing control information according to the environmental information; the fire extinguishing control information indicates whether fire extinguishing processing is required;

[0009] If the fire extinguishing control information indicates that fire extinguishing control processing is required, the fire extinguishing robot belonging to the control device is controlled to perform fire extinguishing processing according to the fire extinguishing control information.

[0010] In a possible implementation, the environmental information includes fire environment information; wherein the fire environment information is used to determine whether the environment in which the fire extinguishing robot to which the control device belongs needs to be extinguished; the fire environment information includes: at least one of temperature sensor information, smoke sensor information, and fire sensor information; determining the fire extinguishing control information based on the environmental information includes: determining whether fire extinguishing is needed based on the fire environment information included in the environmental information.

[0011] In one possible implementation, the environmental information includes fire environment information and scene environment information; wherein the fire environment information is used to determine whether the environment in which the fire-fighting robot to which the control device belongs is located requires fire extinguishing treatment; the scene environment information is information indicating the scene in which the fire-fighting robot to which the control device belongs is located; the fire extinguishing control information also indicates fire extinguishing agent information and fire extinguishing intensity information; determining the fire extinguishing control information based on the environmental information includes: determining whether fire extinguishing treatment is required based on the fire environment information included in the environmental information; if it is determined that fire extinguishing treatment is required, determining the fire extinguishing agent information and fire extinguishing intensity information indicated by the fire extinguishing control information based on the scene environment information and the fire environment information included in the environmental information.

[0012] In a possible implementation, determining the fire extinguishing agent information and the fire extinguishing intensity information indicated by the fire extinguishing control information according to the scene environment information and the fire environment information included in the environmental information includes: determining the fire type information according to the scene environment information included in the environmental information; determining the fire extinguishing agent information and the fire extinguishing intensity information indicated by the fire extinguishing control information according to the fire type information and the fire environment information.

[0013] In a possible implementation, the environmental information includes scene environment information and monitoring environment information; wherein the monitoring environment information indicates early warning monitoring information of the position of the fire-fighting robot to which the control device belongs; the method further includes: obtaining a corresponding early warning control strategy based on the scene environment information included in the environmental information; generating and presenting early warning information based on the corresponding early warning control strategy and the monitoring environment information included in the environmental information.

[0014] In a possible implementation, the environmental information includes scene environmental information; the scene environmental information is information indicating a scene in which the fire-fighting robot to which the control device belongs is located; the method further includes: obtaining path planning information of the fire-fighting robot to which the control device belongs according to the scene environmental information included in the environmental information; obtaining positioning information and visual information of the fire-fighting robot to which the control device belongs in real time, and performing cruise control processing on the fire-fighting robot to which the control device belongs according to the path planning information, the positioning information, and the visual information.

[0015] In a possible implementation, the method further includes: generating mobile control information in response to a control device of at least one other fire-fighting robot, and / or a control instruction sent by a fixed control device; and performing mobile control processing on the fire-fighting robot to which the control device belongs based on the mobile control information and the visual information.

[0016] In a second aspect, an embodiment of the present application provides a control device for fire extinguishing, comprising:

[0017] An acquisition module is used to acquire the environmental information around the fire-fighting robot to which the control device belongs in real time;

[0018] A determination module, used to determine fire extinguishing control information according to the environmental information; the fire extinguishing control information indicates whether fire extinguishing processing is required;

[0019] The control module is used to control the fire-fighting robot belonging to the control device to perform fire-fighting processing according to the fire-fighting control information if the fire-fighting control information indicates that fire-fighting control processing is required.

[0020] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0021] The memory stores computer-executable instructions;

[0022] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0023] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0024] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0025] In a sixth aspect, an embodiment of the present application provides a fire-fighting robot, comprising: a control device, at least one environment sensing device, and at least one fire-fighting device; the control device is connected to the environment sensing device and the fire-fighting device, respectively;

[0026] Among them, the control device is a device for implementing the above first aspect and / or various possible implementation methods of the first aspect.

[0027] In a possible implementation, the fire-fighting robot further includes: at least one of an early warning device and a mobile device; wherein at least one of the early warning device and the mobile device is connected to the control device.

[0028] The control method, device, equipment and fire-fighting robot for fire extinguishing provided in the embodiments of the present application obtain environmental information around the fire-fighting robot to which the control device belongs in real time when the fire-fighting robot to which the control device belongs is cruising in the scene in which it is located, determine fire-fighting control information based on the environmental information, and if the fire-fighting control information indicates that fire-fighting control processing is required, then control the fire-fighting robot to which the control device belongs to perform fire-fighting processing based on the fire-fighting control information. When the fire-fighting robot to which the control device belongs is cruising in the scene in which it is located, determine whether fire-fighting control processing is required based on the environmental information obtained in real time, and situations where fire-fighting control processing is required can be discovered in a timely and accurate manner, thereby improving the efficiency and accuracy of the control for fire extinguishing. When it is determined that fire-fighting control processing is required, the fire-fighting robot to which the control device belongs is controlled to perform fire-fighting processing, and timely and accurate fire-fighting processing can be achieved. Based on the above description, the efficiency and accuracy of the control for fire extinguishing can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0030] Figure 1 Schematic diagram of the process of the control method for fire extinguishing provided in this application Figure 1 ;

[0031] Figure 2 Schematic diagram of the process of the control method for fire extinguishing provided in this application Figure 2 ;

[0032] Figure 3 Schematic diagram of the structure of the fire-fighting robot provided for this application Figure 1 ;

[0033] Figure 4 Schematic diagram of the structure of the fire-fighting robot provided for this application Figure 2 ;

[0034] Figure 5 A schematic diagram of the structure of the fire extinguishing control device provided for this application;

[0035] Figure 6 A schematic diagram of the structure of the electronic device provided in this application.

[0036] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0037] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0038] In the prior art, conventional environmental monitoring mainly relies on static sensors, and once a fire occurs, conventional methods rely on manual fire extinguishing. However, the methods in the prior art may result in low efficiency and poor accuracy of the control used for fire extinguishing.

[0039] The control method for fire extinguishing provided in the present application obtains environmental information around the fire extinguishing robot belonging to the control device in real time when the fire extinguishing robot belonging to the control device is cruising in the scene in which it is located, determines fire extinguishing control information based on the environmental information, and if the fire extinguishing control information indicates that fire extinguishing control processing is required, the fire extinguishing robot belonging to the control device is controlled to perform fire extinguishing processing based on the fire extinguishing control information. When the fire extinguishing robot belonging to the control device is cruising in the scene in which it is located, it is determined whether fire extinguishing control processing is required based on the environmental information obtained in real time, so that situations where fire extinguishing control processing is required can be discovered in a timely and accurate manner, thereby improving the efficiency and accuracy of the control for fire extinguishing. When it is determined that fire extinguishing control processing is required, the fire extinguishing robot belonging to the control device is controlled to perform fire extinguishing processing, so that timely and accurate fire extinguishing processing can be achieved. Based on the above description, the efficiency and accuracy of the control for fire extinguishing can be improved.

[0040] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0041] Figure 1 Schematic diagram of the process of the control method for fire extinguishing provided in this application Figure 1 The execution subject is the control device of the fire-fighting robot, wherein the fire-fighting robot performs cruising motion in the scene in which it is located. Generally speaking, it can be realized by software, hardware, or a combination of software and hardware. Figure 1 As shown, the method includes:

[0042] Step S101: When the fire-fighting robot to which the control device belongs performs cruising motion in the scene in which it is located, environmental information around the fire-fighting robot to which the control device belongs is obtained in real time.

[0043] Specifically, when the fire-fighting robot to which the control device belongs performs a cruising motion in the scene in which it is located, the environmental information around the fire-fighting robot to which the control device belongs can be obtained in real time. The environmental information refers to the information characterizing the surrounding environment of the fire-fighting robot to which the control device belongs. The present application does not limit the environmental information, and any information characterizing the surrounding environment of the fire-fighting robot to which the control device belongs can be used as the environmental information provided by the present application. Optionally, the environmental information may include fire environment information, or information such as fire environment information and scene environment information.

[0044] Among them, the present application does not limit the process of obtaining the environmental information around the fire-fighting robot to which the control device belongs in real time. Optionally, the environmental information around the fire-fighting robot to which the control device belongs can be obtained in real time through the environmental sensing device of the fire-fighting robot to which the control device belongs.

[0045] Step S102: Determine fire extinguishing control information according to environmental information.

[0046] Specifically, according to the environmental information obtained in step S101, the fire extinguishing control information can be determined. The fire extinguishing control information is information for controlling the fire extinguishing process performed by the fire extinguishing robot to which the control device belongs. The present application does not limit the fire extinguishing control information. Optionally, any information for controlling the fire extinguishing process performed by the fire extinguishing robot to which the control device belongs can be used as the fire extinguishing control information provided by the present application. Optionally, the fire extinguishing control information indicates whether fire extinguishing process is required.

[0047] If the fire extinguishing control information indicates that no fire extinguishing control processing is required, the fire extinguishing control information is continued to be determined based on the environmental information obtained in real time.

[0048] Among them, the present application does not limit the process of determining the fire extinguishing control information according to the environmental information. Specifically, the process of determining the fire extinguishing control information according to the environmental information corresponds to the acquired environmental information.

[0049] Step S103: If the fire extinguishing control information indicates that fire extinguishing control processing is required, the fire extinguishing robot belonging to the control device is controlled to perform fire extinguishing processing according to the fire extinguishing control information.

[0050] Specifically, if the fire extinguishing control information determined in step S102 indicates that a fire extinguishing control process needs to be performed, the fire extinguishing robot to which the control device belongs can be controlled to perform the fire extinguishing process according to the fire extinguishing control information.

[0051] Among them, the present application does not limit the process of controlling the fire extinguishing robot to which the control device belongs to perform fire extinguishing processing according to the fire extinguishing control information. Optionally, the fire extinguishing control processing can be performed by controlling the fire extinguishing equipment of the fire extinguishing robot to which the control device belongs.

[0052] The control method for fire extinguishing provided in the embodiment of the present application obtains environmental information around the fire extinguishing robot belonging to the control device in real time when the fire extinguishing robot belonging to the control device is cruising in the scene in which it is located, determines fire extinguishing control information based on the environmental information, and if the fire extinguishing control information indicates that fire extinguishing control processing is required, the fire extinguishing robot belonging to the control device is controlled to perform fire extinguishing processing based on the fire extinguishing control information. When the fire extinguishing robot belonging to the control device is cruising in the scene in which it is located, it is determined whether fire extinguishing control processing is required based on the environmental information obtained in real time, so that situations where fire extinguishing control processing is required can be discovered in a timely and accurate manner, thereby improving the efficiency and accuracy of the control for fire extinguishing. When it is determined that fire extinguishing control processing is required, the fire extinguishing robot belonging to the control device is controlled to perform fire extinguishing processing, so that timely and accurate fire extinguishing processing can be achieved. Based on the above description, the efficiency and accuracy of the control for fire extinguishing can be improved.

[0053] In a possible embodiment, the environmental information includes fire environment information. The fire environment information is used to determine whether the environment in which the fire-fighting robot to which the control device belongs needs to be extinguished. The present application does not limit the fire environment information, and any information used to determine whether the environment in which the fire-fighting robot to which the control device belongs needs to be extinguished can be used as the fire environment information provided by the present application. Specifically, the fire environment information may include at least one of temperature sensor information, smoke sensor information, and fire light sensor information.

[0054] The temperature sensing information is information for sensing the temperature of the environment in which the fire-fighting robot to which the control device belongs is located. The present application does not limit the temperature sensing information, and any information for sensing the temperature of the environment in which the fire-fighting robot to which the control device belongs is located can be used as the temperature sensing information provided by the present application. The present application does not limit the process of obtaining the temperature sensing information, and optionally, the temperature sensing information around the fire-fighting robot to which the control device belongs can be obtained in real time through the temperature sensing device of the fire-fighting robot to which the control device belongs, for example, a temperature sensor.

[0055] The smoke sensing information is information for sensing smoke in the environment of the fire-fighting robot to which the control device belongs. The present application does not limit the smoke sensing information, and any information for sensing smoke in the environment of the fire-fighting robot to which the control device belongs can be used as the smoke sensing information provided by the present application. The present application does not limit the process of obtaining smoke sensing information, and optionally, the smoke sensing information around the fire-fighting robot to which the control device belongs can be obtained in real time through the smoke sensing device of the fire-fighting robot to which the control device belongs, such as a smoke sensor.

[0056] The flame sensing information is information for sensing the flame in the environment of the fire-fighting robot to which the control device belongs. The present application does not limit the flame sensing information, and any information for sensing the flame in the environment of the fire-fighting robot to which the control device belongs can be used as the flame sensing information provided by the present application. The present application does not limit the process of obtaining the flame sensing information, and optionally, the flame sensing information around the fire-fighting robot to which the control device belongs can be obtained in real time through the flame sensing device of the fire-fighting robot to which the control device belongs, such as a flame sensor.

[0057] Specifically, if the environmental information includes fire environmental information as described above, determining the fire extinguishing control information according to the environmental information may include: determining whether fire extinguishing processing is required according to the fire environmental information included in the environmental information.

[0058] The present application does not limit the process of determining whether fire extinguishing is required based on the fire environment information included in the environmental information, wherein the process of determining whether fire extinguishing is required based on the fire environment information included in the environmental information corresponds to the fire environment information included in the environmental information. Optionally, if the fire environment information included in the environmental information includes temperature sensor information, the process of determining whether fire extinguishing is required based on the fire environment information included in the environmental information may be, if the temperature indicated by the temperature sensor information is higher than a preset temperature threshold, then it is determined that fire extinguishing is required, otherwise, it is determined that fire extinguishing is not required. Optionally, if the fire environment information included in the environmental information includes smoke sensor information, the process of determining whether fire extinguishing is required based on the fire environment information included in the environmental information may be, if the smoke concentration indicated by the smoke sensor information is higher than a preset smoke concentration threshold, then it is determined that fire extinguishing is required, otherwise, it is determined that fire extinguishing is not required. Optionally, if the fire environment information included in the environmental information includes fire light sensor information, then the process of determining whether fire extinguishing is required based on the fire environment information included in the environmental information may be, if the fire light sensor information indicates the presence of fire light, then it is determined that fire extinguishing is required, otherwise, it is determined that fire extinguishing is not required. Optionally, if the fire environment information included in the environmental information includes temperature sensor information and smoke sensor information, then the process of determining whether fire extinguishing is required based on the fire environment information included in the environmental information may be, if the temperature indicated by the temperature sensor information is higher than a preset temperature threshold, and the smoke concentration indicated by the smoke sensor information is higher than a preset smoke concentration threshold, then it is determined that fire extinguishing is required, otherwise, it is determined that fire extinguishing is not required.

[0059] Among them, if the environmental information includes fire environmental information, and the fire environmental information includes at least one of temperature sensor information, smoke sensor information, and fire light sensor information, it can be accurately determined whether fire extinguishing is required, thereby improving the accuracy of the control used for fire extinguishing.

[0060] Figure 2 Schematic diagram of the process of the control method for fire extinguishing provided in this application Figure 2 ,like Figure 2 As shown, in this embodiment Figure 1 Based on the embodiment, if the environmental information includes fire environment information and scene environment information, the process of determining the fire extinguishing control information according to the environmental information is described in detail. The method includes:

[0061] Step S201: Determine whether fire extinguishing is required based on fire environment information included in the environment information.

[0062] Among them, the description of the fire environment information and the description of determining whether fire extinguishing is required based on the fire environment information included in the environment information can be referred to the description in the above embodiment and will not be repeated here.

[0063] Step S202: If it is determined that fire extinguishing is required, the fire extinguishing agent information and fire extinguishing intensity information indicated by the fire extinguishing control information are determined according to the scene environment information and the fire environment information included in the environment information.

[0064] Specifically, if it is determined in step S201 that fire extinguishing is required, the fire extinguishing agent information and fire extinguishing intensity information indicated by the fire extinguishing control information may be determined according to the scene environment information and the fire environment information included in the environment information.

[0065] Among them, the scene environment information is information indicating the scene in which the fire-fighting robot to which the control device belongs is located.

[0066] Among them, the present application does not limit the scene environment information. Optionally, any information indicating the scene in which the fire-fighting robot to which the control device belongs is located can be used as the scene environment information provided by the present application.

[0067] Among them, this application does not limit the scene in which the fire-fighting robot to which the control device belongs is located, and any scene can be used as the scene in which the fire-fighting robot to which the control device provided by this application belongs is located. Optionally, the scene in which the fire-fighting robot to which the control device belongs is located can be a data center scene, an office scene, and the like.

[0068] Among them, the present application does not limit the process of obtaining scene environment information in the environmental information. Optionally, the scene environment information in the environmental information can be obtained in real time by controlling the visual perception device of the fire-fighting robot to which the device belongs, such as a laser radar, a camera and other devices.

[0069] Among them, the fire extinguishing control information also indicates the fire extinguishing agent information and the fire extinguishing intensity information.

[0070] Specifically, the fire extinguishing agent information is the information of the fire extinguishing agent used when the fire extinguishing robot to which the control device belongs performs fire extinguishing. Among them, the present application does not limit the fire extinguishing agent used when the fire extinguishing robot to which the control device belongs performs fire extinguishing. Any fire extinguishing agent can be used as the fire extinguishing agent used when the fire extinguishing robot to which the control device provided by the present application performs fire extinguishing. Optionally, the fire extinguishing agent used when the fire extinguishing robot to which the control device belongs performs fire extinguishing includes but is not limited to: at least one of dry powder fire extinguishing agent, water mist fire extinguishing agent, foam fire extinguishing agent, fluoroprotein foam fire extinguishing agent, gas fire extinguishing agent, halogenated alkane fire extinguishing agent, carbon dioxide fire extinguishing agent, aerosol fire extinguishing agent, Halon fire extinguishing agent, emulsified water fire extinguishing agent, viscous water fire extinguishing agent, and antifreeze water fire extinguishing agent.

[0071] Among them, dry powder fire extinguishing agent is a kind of fine particles made by mixing and grinding fire extinguishing base material, lubricant and moisture-proof agent. It is sprayed with carbon dioxide or other gases, covering the burning material, forming an isolation layer and reducing the oxygen concentration, thereby extinguishing the fire. There are various types of dry powder fire extinguishing agents, such as ammonium carbonate, ammonium phosphate, etc., which are suitable for extinguishing fires of oil, paint and power equipment, but not suitable for wood, light metal and precision instruments. It is inexpensive and cost-effective, and is widely used in portable and fixed fire extinguishing systems. Water mist fire extinguishing agent is a widely used fire extinguishing method. Its core principle is to use the high specific heat capacity and latent heat of water to cool the burning material, thereby reducing its temperature and terminating combustion. Compared with ordinary water, water mist fire extinguishing agent uses mist water flow, which can more effectively dilute the concentration of air in the fire scene, and is particularly suitable for extinguishing dust fires. However, it should be noted that water mist fire extinguishing agents cannot be used to extinguish materials that burn or explode when wet, such as alkali metals and alkaline earth metals; nor can they be used for fires of charged materials, insoluble materials, concentrated strong acids, and precious, precision instruments and books. Foam fire extinguishing agent is a fire extinguishing agent that extinguishes fires by mixing with water to produce foam. It is mainly composed of chemical substances, hydrolyzed proteins, surfactants and other additives. The fire extinguishing mechanism of foam fire extinguishing agent is to cool and isolate oxygen, that is, to form a continuous foam layer on the surface of the burning material, which is isolated from oxygen by covering, thereby extinguishing the fire. However, foam fire extinguishing agents also have their limitations, such as they cannot be used to extinguish live fires, and may cause water damage and pollution. Fluoroprotein foam fire extinguishing agent is a highly efficient fire extinguishing agent for oil fires, with excellent oil resistance and fire resistance. Compared with traditional protein foam, fluoroprotein foam has better fluidity, and can maintain a stable foam structure even when contaminated by oil, and is not easy to defoam. Therefore, it is often used in the form of underwater spraying to quickly and effectively extinguish oil fires. In Europe and the United States, fluoroprotein foam has replaced protein foam and become the mainstream fire extinguishing agent for protecting large oil tanks. Gas fire extinguishing agent is a fire extinguishing system composed of a mixture of multiple gases, which is highly efficient and environmentally friendly. Among them, the IG series of gas fire extinguishing agents is developed by Ansul, which is composed of three gases: nitrogen (N2), argon (Ar), and carbon dioxide (CO2), called IG541, with a volume ratio of 5:4:1. In addition, there are IG-100 (N2), IG-55 (N2, Ar mixed gas), IG-01 (Ar) and other fire extinguishing systems, but these systems have high maintenance costs and should be used with caution. These fire extinguishing agents mainly extinguish fires through asphyxiation, do not cause pollution, and are suitable for protecting precision instruments and live equipment. Halogenated alkane fire extinguishing agents are highly efficient, low-toxic, low-corrosive fire extinguishing agents with chemical control effects. When halogenated alkanes come into contact with high-temperature surfaces or flames, the active free radicals produced can consume the free radicals produced in the combustion chain reaction, thereby destroying and controlling the combustion chain reaction. In addition, halogenated alkane fire extinguishing agents have the advantages of long-term storage, no deterioration, no traces after fire extinguishing, and no pollution to the protected objects.However, it has good chemical stability and may seriously damage the ozone layer in the atmosphere, so developed countries have begun to phase it out. Carbon dioxide fire extinguishing agent is a fire extinguishing agent stored in liquid form and is commonly used in carbon dioxide fire extinguishers. Its working principle is that liquid carbon dioxide can absorb a large amount of combustion heat when released, thereby terminating the combustion of substances. At the same time, carbon dioxide is a stable inert gas that can dilute the oxygen content in the air and suffocate the combustion. It does not leave any residue after use and is non-conductive, so it is particularly suitable for extinguishing electrical fires and fires of precision instruments and equipment. However, it should be noted that during use, do not touch the metal part of the nozzle to prevent frostbite, and high concentrations of carbon dioxide may cause breathing difficulties or suffocation. Aerosol is a fire extinguishing agent. It is a dispersed system formed by solid or liquid particles in a gas with fire extinguishing efficiency. Aerosol fire extinguishing agent uses its special physical and chemical properties to quickly cool and suffocate the flame, thereby achieving the purpose of extinguishing the fire. Compared with traditional fire extinguishing agents, aerosols are more efficient and environmentally friendly. Halon is a commonly used fire extinguishing agent. It is a kind of halogenated fire extinguishing agent, which has the advantages of cleanliness, high efficiency and rapid cooling. Halon fire extinguishing agent is mainly used for fire extinguishing, especially for electrical fire and precision instrument fire, and its effect is particularly remarkable. However, due to its destructive effect on the atmospheric ozone layer, many countries have restricted or banned the use of halons. Emulsified water is a special fire extinguishing agent. It effectively extinguishes fires by mixing water and fire extinguishing agent to form a stable emulsion. Compared with ordinary water and chemical fire extinguishing agents, emulsified water has a faster cooling rate and higher fire extinguishing efficiency. Its advantage is that it can be used not only to extinguish solid material fires, but also to extinguish certain special types of fires, such as oil fires. In addition, emulsified water is also environmentally friendly, non-toxic and pollution-free, and is a relatively safe and efficient fire extinguishing agent. Viscous water fire extinguishing agent is a special fire extinguishing agent. Compared with other fire extinguishing agents, it has unique adhesion, can quickly cover the fire source, isolate the air, and thus achieve the effect of fire extinguishing. In addition, viscous water also has a cooling effect, which can quickly reduce the temperature of the fire source. Due to its special properties, viscous water can extinguish flames more efficiently and quickly during the fire extinguishing process, and is a very effective fire extinguishing agent. Antifreeze water fire extinguishing agent is a special fire extinguishing agent, which is mainly used to extinguish fires caused by low temperatures. Unlike conventional fire extinguishing agents, the main components of antifreeze water are water and antifreeze, which can quickly reduce the temperature of the fire scene, thereby effectively controlling the fire. In addition, antifreeze water also has antifreeze properties and can work normally in low temperature environments, and the fire extinguishing effect will not be affected by ice. Therefore, antifreeze water has particularly important application value in cold areas or winter fires.

[0072] Specifically, the fire extinguishing intensity information is information about the fire extinguishing intensity used by the fire extinguishing robot to which the control device belongs when performing fire extinguishing processing. Among them, this application does not limit the fire extinguishing intensity used by the fire extinguishing robot to which the control device belongs when performing fire extinguishing processing. Any fire extinguishing intensity can be used as the fire extinguishing intensity used by the fire extinguishing robot to which the control device belongs when performing fire extinguishing processing provided by this application. Optionally, different fire extinguishing intensities can be selected to control the fire extinguishing robot to which the control device belongs to perform fire extinguishing processing.

[0073] Among them, the present application does not limit the process of determining the fire extinguishing agent information and fire extinguishing intensity information indicated by the fire extinguishing control information according to the scene environment information and fire environment information included in the environment information. Optionally, if the environment information includes fire environment information and scene environment information, then the process of determining the fire extinguishing agent information and fire extinguishing intensity information indicated by the fire extinguishing control information according to the scene environment information and fire environment information included in the environment information may include: first determining the fire type information according to the scene environment information included in the environment information. Then determining the fire extinguishing agent information and fire extinguishing intensity information indicated by the fire extinguishing control information according to the fire type information and fire environment information.

[0074] The fire type information is information used to indicate the type of fire, and the present application does not limit the fire type information, and any information used to indicate the type of fire can be used as the fire type information provided by the present application. Optionally, the fire type indicated by the fire type information includes, but is not limited to, information such as electrical fire type, precision instrument and equipment fire type, and oil product fire type.

[0075] Among them, the present application does not limit the process of determining the fire extinguishing agent information and fire extinguishing intensity information indicated by the fire extinguishing control information based on the fire type information and the fire environment information. Optionally, the fire extinguishing agent information indicated by the fire extinguishing control information can be first determined based on the fire type information; and then the fire extinguishing intensity information indicated by the fire extinguishing control information can be determined based on the fire environment information.

[0076] The embodiment of the present application provides a process for determining fire extinguishing control information based on environmental information, by determining whether fire extinguishing is required based on the fire environment information included in the environmental information; if it is determined that fire extinguishing is required, the fire extinguishing agent information and fire extinguishing intensity information indicated by the fire extinguishing control information are determined based on the scene environment information and fire environment information included in the environmental information; wherein, by determining the fire extinguishing agent information and fire extinguishing intensity information indicated by the fire extinguishing control information based on the scene environment information and fire environment information included in the environmental information, the accuracy of determining the fire extinguishing control information can be improved, thereby further improving the accuracy of the control used to extinguish the fire.

[0077] In a possible embodiment, the environmental information includes scene environmental information and monitoring environmental information. For the description of the scene environmental information, reference can be made to the description in step S202, which will not be repeated here.

[0078] Among them, the monitoring environment information indicates the early warning monitoring information of the position of the fire-fighting robot to which the control device belongs.

[0079] Among them, the early warning monitoring information is monitoring information for early warning of the position of the fire-fighting robot to which the control device belongs. Among them, this application does not limit the early warning monitoring information, and any monitoring information that can provide early warning of the position of the fire-fighting robot to which the control device belongs can be used as the early warning monitoring information provided by this application. Optionally, the early warning monitoring information includes but is not limited to: at least one of temperature sensing information, humidity sensing information, combustible gas sensing information, and toxic gas sensing information. Among them, this application does not limit the process of obtaining early warning monitoring information, wherein the process of obtaining early warning monitoring information corresponds to the type of information included in the early warning monitoring information. For example, if the early warning monitoring information includes temperature sensing information, the temperature sensing information around the fire-fighting robot to which the control device belongs can be obtained in real time according to the temperature sensing device of the fire-fighting robot to which the control device belongs described in the above embodiment, such as a temperature sensor. For example, if the early warning monitoring information includes humidity sensing information, the humidity sensing information around the fire-fighting robot to which the control device belongs can be obtained in real time according to the humidity sensing device of the fire-fighting robot to which the control device belongs described in the above embodiment, such as a humidity sensor. For example, if the early warning monitoring information includes combustible gas sensing information and / or toxic gas sensing information, the combustible gas sensing information and / or toxic gas sensing information around the fire-fighting robot to which the control device belongs can be obtained in real time based on the air quality sensing device of the fire-fighting robot to which the control device described in the above embodiments, for example, an air quality sensor.

[0080] Optionally, if the environmental information includes scene environmental information and monitoring environmental information, the method for controlling fire extinguishing may further include: first obtaining a corresponding early warning control strategy according to the scene environmental information included in the environmental information, and then generating and presenting early warning information according to the corresponding early warning control strategy and the monitoring environmental information included in the environmental information.

[0081] Among them, the early warning control strategy is a control strategy for issuing early warnings to the scene in which the fire-fighting robot to which the control device belongs is located. When the scene in which the fire-fighting robot to which the control device belongs is different, the corresponding early warning control strategy is also different. For example, if the scene in which the fire-fighting robot to which the control device belongs is a data center scene, the corresponding early warning control strategy indicates monitoring and issuing early warnings on the temperature, humidity, and combustible gas concentration in the scene in which the fire-fighting robot to which the control device belongs is located. For example, if the scene in which the fire-fighting robot to which the control device belongs is an office scene, the corresponding early warning control strategy indicates monitoring and issuing early warnings on the temperature and toxic gas concentration in the scene in which the fire-fighting robot to which the control device belongs is located.

[0082] Specifically, based on the above description of the early warning control strategy, the corresponding early warning control strategy can be obtained according to the scene environment information included in the environmental information. Among them, this application does not limit the process of obtaining the corresponding early warning control strategy according to the scene environment information included in the environmental information. Optionally, the scene in which the fire-fighting robot to which the control device belongs is located can be determined according to the scene environment information included in the environmental information, and then the corresponding early warning control strategy can be obtained according to the scene in which the fire-fighting robot to which the control device belongs is located.

[0083] Among them, the early warning information is the information that warns the position of the fire-fighting robot to which the control device belongs after being judged by the corresponding early warning control strategy, wherein the early warning information corresponds to the monitoring environment information included in the corresponding early warning control strategy and environmental information.

[0084] This application does not limit the process of generating and presenting warning information according to the corresponding warning control strategy and the monitoring environment information included in the environmental information. Optionally, the monitoring environment information to be warned can be determined according to the corresponding warning control strategy and the monitoring environment information included in the environmental information, and then the warning information can be generated and presented according to the monitoring environment information to be warned. For example, if the corresponding warning control strategy indicates monitoring and warning of the temperature, humidity, and combustible gas concentration in the scene where the fire-fighting robot to which the control device belongs is located, and the monitoring environment information included in the environmental information includes temperature sensor information, humidity sensor information, combustible gas sensor information, and toxic gas sensor information, then the monitoring environment information to be warned includes temperature sensor information, humidity sensor information, and combustible gas sensor information. For example, if the monitored environment information to be warned includes temperature sensor information, humidity sensor information, and combustible gas sensor information, then the process of generating and presenting warning information based on the monitored environment information to be warned may include: if the temperature indicated by the temperature sensor information is higher than the warning temperature threshold, the humidity indicated by the humidity sensor information is higher than the warning humidity threshold, and the combustible gas concentration indicated by the combustible gas sensor information is higher than at least one of the warning concentration threshold, then the warning information is generated and presented.

[0085] In a possible embodiment, the environmental information includes scene environmental information. The scene environmental information is information indicating the scene in which the fire-fighting robot to which the control device belongs is located. For the description of the scene environmental information, reference can be made to the description in the above embodiment, which will not be repeated here.

[0086] Specifically, if the environmental information includes scene environmental information, the method for controlling fire extinguishing further includes: first, according to the scene environmental information included in the environmental information, obtaining the path planning information of the fire extinguishing robot to which the control device belongs, then obtaining the positioning information and visual information of the fire extinguishing robot to which the control device belongs in real time, and performing cruise control processing on the fire extinguishing robot to which the control device belongs according to the path planning information, the positioning information, and the visual information.

[0087] The path planning information of the fire-fighting robot is information for planning the path of the fire-fighting robot for cruising in the scene in which it is located. The present application does not limit the process of obtaining the path planning information of the fire-fighting robot to which the control device belongs according to the scene environment information included in the environment information. Optionally, the map information of the scene in which the fire-fighting robot to which the control device belongs can be obtained according to the scene environment information included in the environment information, and then the path planning information of the fire-fighting robot to which the control device belongs can be determined according to the preset cruising rules and the map information of the scene in which the fire-fighting robot to which the control device belongs is located.

[0088] The visual information is information for visually perceiving the environment in which the fire-fighting robot to which the control device belongs is located. The present application does not limit the visual information, and any information for visually perceiving the environment in which the fire-fighting robot to which the control device belongs is located can be used as the visual information provided by the present application. The present application does not limit the process of obtaining the visual information, and optionally, the visual information can be obtained in real time through the visual perception device of the fire-fighting robot to which the control device belongs, such as a laser radar, a camera, and other devices.

[0089] Among them, the present application does not limit the process of cruise control processing of the fire-fighting robot belonging to the control device based on path planning information, positioning information, and visual information. Optionally, the fire-fighting robot belonging to the control device can be controlled to perform cruising movement based on the path planning information and positioning information, and during the cruising movement, the fire-fighting robot belonging to the control device can be controlled based on visual information to avoid equipment, obstacles, fire sources and other objects in the scene.

[0090] Among them, accurate path planning information can be obtained through the scene environment information included in the environmental information, thereby improving the accuracy of the control used for fire extinguishing. Among them, on the basis of the path planning information, according to the positioning information and visual information, the fire-fighting robot belonging to the control device is cruise controlled, which can improve the accuracy of the cruise control and thus improve the accuracy of the control used for fire extinguishing.

[0091] In a possible embodiment, the method for controlling fire extinguishing further includes: firstly generating movement control information in response to a control instruction sent by a control device of at least one other fire extinguishing robot and / or a fixed control device, and then performing movement control processing on the fire extinguishing robot to which the control device belongs according to the movement control information and the visual information.

[0092] Among them, other fire-fighting robots are fire-fighting robots other than the fire-fighting robot to which the control device belongs in the scene where the fire-fighting robot to which the control device belongs is located, wherein the scene includes at least two fire-fighting robots. If the control device of any of the fire-fighting robots determines that fire-fighting processing is required, control instructions can be sent to other fire-fighting robots in the scene, so that the control device of the fire-fighting robot that receives the control instructions generates mobile control information.

[0093] The fixed control device is a control device fixed in the scene where the fire-fighting robot to which the control device belongs is located, for example, a control device fixed on the top and / or wall of the scene where the fire-fighting robot to which the control device belongs is located. The scene includes a fixed control device and at least one fire-fighting robot. If the fixed controller determines that fire-fighting processing is required, a control instruction can be sent to the fire-fighting robot in the scene, so that the control device of the fire-fighting robot that receives the control instruction generates mobile control information.

[0094] Among them, the control instruction indicates the target position of the fire-fighting robot to which the control device belongs, that is, the control device of other fire-fighting robots, and / or the fixed control device indicates the position to which the fire-fighting robot to which the control device belongs is to move.

[0095] The mobile control information is temporary path planning information for controlling the fire-fighting robot to which the control device belongs to move to the position indicated by the control instruction to which the fire-fighting robot to which the control device belongs is to move. For example, the fire-fighting robot to which the control device belongs to move to the vicinity of the fire-fighting robot that sends the control instruction to assist the fire-fighting robot that sends the control instruction to perform fire-fighting processing, or the fire-fighting robot to which the control device belongs to move to the position indicated by the fixed control device to control the fire-fighting robot to which the control device belongs to perform fire-fighting processing.

[0096] Among them, the present application does not limit the process of generating mobile control information in response to a control instruction. Optionally, the position to which the fire-fighting robot to which the control device belongs is to be moved can be determined according to the control instruction, and then the mobile control information can be determined based on the position to be moved, the positioning information of the fire-fighting robot to which the control device belongs, and the path planning information of the fire-fighting robot to which the control device belongs.

[0097] Specifically, after generating movement control information in response to a control instruction sent by at least one other fire-fighting robot control device and / or a fixed control device, the fire-fighting robot to which the control device belongs can be subjected to movement control processing according to the movement control information and the visual information. In the process of performing movement control processing on the fire-fighting robot to which the control device belongs, the combination of the visual information can improve the accuracy of movement control, and further improve the accuracy of control for fire extinguishing.

[0098] Figure 3 Schematic diagram of the structure of the fire-fighting robot provided for this application Figure 1 ,like Figure 3 As shown, the fire-fighting robot 30 provided in this embodiment includes:

[0099] A control device 301, at least one environment sensing device 302, and at least one fire extinguishing device 303; the control device 301 is connected to the environment sensing device 302 and the fire extinguishing device 303 respectively;

[0100] Among them, the control device 301 is a device as described in any of the above embodiments, which will not be repeated here.

[0101] The environment sensing device 302 is a device for obtaining surrounding environment information in real time. Optionally, the environment sensing device 302 includes but is not limited to: a temperature sensor, a smoke sensor, a fire sensor, a visual sensing device, for example, at least one of a laser radar device, a camera device, and the like.

[0102] The fire extinguishing device 303 is a device for controlling the fire extinguishing robot to perform fire extinguishing. Optionally, the fire extinguishing device 303 may be a device loaded with the fire extinguishing agent described in the above embodiment and used for performing fire extinguishing.

[0103] The fire-fighting robot provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be described in detail here.

[0104] Figure 4 Schematic diagram of the structure of the fire-fighting robot provided for this application Figure 2 ,like Figure 4 As shown, in Figure 3On the basis of the illustrated embodiment, the fire-fighting robot 30 provided in this embodiment further includes: at least one of an early warning device 304 and a mobile device 305 ; wherein, at least one of the early warning device 304 and the mobile device 305 is connected to the control device 301 .

[0105] The early warning device 304 is a device for early warning the scene where the fire-fighting robot to which the control device 301 belongs is located. If the fire-fighting robot includes the early warning device 304, the environment perception device 302 also includes: at least one of a humidity sensor device and an air quality sensor.

[0106] The mobile device 305 is a device for controlling the fire-fighting robot to which the control device 301 belongs to move. Optionally, the mobile device 305 includes but is not limited to: a wheeled chassis device, or a wheeled chassis device and an independent suspension system device. The wheeled chassis device is used to drive the fire-fighting robot to which the control device 301 belongs to move in response to the control of the control device 301, and the independent suspension system device is used to adapt to different ground conditions.

[0107] Optionally, the mechanical structure of the fire-fighting robot provided in the present application uses lightweight materials to ensure that the fire-fighting robot has flexible mobility and can pass through narrow passages and crowded spaces in the computer room of the data center.

[0108] Figure 5 A schematic diagram of the structure of the control device for fire extinguishing provided in this application, such as Figure 5 As shown, the control device 50 for fire extinguishing provided in this embodiment includes:

[0109] An acquisition module 501 is used to acquire the environmental information around the fire-fighting robot to which the control device belongs in real time;

[0110] The determination module 502 is used to determine the fire extinguishing control information according to the environmental information; the fire extinguishing control information indicates whether the fire extinguishing process needs to be performed;

[0111] The control module 503 is used to control the fire extinguishing robot belonging to the control device to perform the fire extinguishing process according to the fire extinguishing control information if the fire extinguishing control information indicates that the fire extinguishing control process needs to be performed.

[0112] In a possible embodiment, the environmental information includes fire environment information; wherein the fire environment information is used to determine whether the environment in which the fire extinguishing robot to which the control device belongs needs to be extinguished; the fire environment information includes: at least one of temperature sensor information, smoke sensor information, and fire sensor information; the determination module 502 is specifically used to determine whether fire extinguishing is needed based on the fire environment information included in the environmental information.

[0113] In a possible embodiment, the environmental information includes fire environment information and scene environment information; wherein the fire environment information is used to determine whether the environment in which the fire-fighting robot to which the control device belongs is located requires fire extinguishing treatment; the scene environment information is information indicating the scene in which the fire-fighting robot to which the control device belongs is located; the fire extinguishing control information also indicates fire extinguishing agent information and fire extinguishing intensity information; the determination module 502 is specifically used to determine whether fire extinguishing treatment is required based on the fire environment information included in the environmental information; if it is determined that fire extinguishing treatment is required, the fire extinguishing agent information and fire extinguishing intensity information indicated by the fire extinguishing control information are determined based on the scene environment information and fire environment information included in the environmental information.

[0114] In a possible embodiment, the determination module 502 is further specifically used to determine the fire type information according to the scene environment information included in the environment information; and determine the fire extinguishing agent information and the fire extinguishing intensity information indicated by the fire extinguishing control information according to the fire type information and the fire environment information.

[0115] In a possible embodiment, the environmental information includes scene environmental information and monitoring environmental information; wherein the monitoring environmental information indicates early warning monitoring information of the position of the fire-fighting robot to which the control device belongs; the fire-fighting control device 50 also includes an early warning module for obtaining a corresponding early warning control strategy based on the scene environmental information included in the environmental information; and generating and presenting early warning information based on the corresponding early warning control strategy and the monitoring environmental information included in the environmental information.

[0116] In a possible embodiment, the environmental information includes scene environmental information; the scene environmental information is information indicating the scene in which the fire-fighting robot to which the control device belongs is located; the fire-fighting control device 50 also includes a cruise module, which is used to obtain the path planning information of the fire-fighting robot to which the control device belongs according to the scene environmental information included in the environmental information; obtain the positioning information and visual information of the fire-fighting robot to which the control device belongs in real time, and perform cruise control processing on the fire-fighting robot to which the control device belongs according to the path planning information, positioning information, and visual information.

[0117] In a possible embodiment, the control module is also used to generate mobile control information in response to the control device of at least one other fire-fighting robot and / or the control instructions sent by the fixed control device; and perform mobile control processing on the fire-fighting robot to which the control device belongs based on the mobile control information and visual information.

[0118] The control device for fire extinguishing provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be described in detail here.

[0119] Figure 6This is a schematic diagram of the structure of the electronic device provided in this application. Figure 6 As shown, the electronic device 60 provided in this embodiment includes: at least one processor 601 and a memory 602. Optionally, the device 60 also includes a communication component 603. The processor 601, the memory 602 and the communication component 603 are connected via a bus 604.

[0120] In a specific implementation process, at least one processor 601 executes the computer execution instructions stored in the memory 602, so that at least one processor 601 executes the above method.

[0121] The specific implementation process of the processor 601 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0122] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0123] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0124] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0125] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0126] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0127] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0128] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0129] The division of units is only a logical function division, and there may be other divisions 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 an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0130] 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.

[0131] In addition, each functional unit in each embodiment of the present invention 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.

[0132] If the function 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 storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including 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 methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0133] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0134] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A control method for fire extinguishing, characterized in that: A control device applied to a fire-fighting robot, wherein the fire-fighting robot performs cruising motion in a scene in which it is located, and the method comprises: When the fire-fighting robot to which the control device belongs performs cruising in the scene in which it is located, environmental information around the fire-fighting robot to which the control device belongs is obtained in real time; Determining fire extinguishing control information according to the environmental information; the fire extinguishing control information indicates whether fire extinguishing processing is required; If the fire extinguishing control information indicates that fire extinguishing control processing is required, the fire extinguishing robot belonging to the control device is controlled to perform fire extinguishing processing according to the fire extinguishing control information.

2. The method according to claim 1, characterized in that The environmental information includes fire environment information; wherein the fire environment information is used to determine whether the environment in which the fire-fighting robot to which the control device belongs needs to be extinguished; the fire environment information includes: at least one of temperature sensor information, smoke sensor information, and fire light sensor information; Determining fire extinguishing control information according to the environmental information includes: Determine whether fire extinguishing is required based on the fire environment information included in the environment information.

3. The method according to claim 1, characterized in that: The environmental information includes fire environment information and scene environment information; wherein the fire environment information is used to determine whether the environment in which the fire-fighting robot to which the control device belongs needs to be extinguished; the scene environment information is information indicating the scene in which the fire-fighting robot to which the control device belongs is located; the fire-fighting control information also indicates fire-fighting agent information and fire-fighting intensity information; Determining fire extinguishing control information according to the environmental information includes: Determining whether fire extinguishing is required according to the fire environment information included in the environment information; If it is determined that fire extinguishing is required, the fire extinguishing agent information and the fire extinguishing intensity information indicated by the fire extinguishing control information are determined according to the scene environment information and the fire environment information included in the environment information.

4. The method according to claim 3, characterized in that: Determining the fire extinguishing agent information and the fire extinguishing intensity information indicated by the fire extinguishing control information according to the scene environment information and the fire environment information included in the environment information, including: Determining fire type information according to the scene environment information included in the environment information; The fire extinguishing agent information and the fire extinguishing intensity information indicated by the fire extinguishing control information are determined according to the fire type information and the fire environment information.

5. The method according to claim 1, characterized in that The environmental information includes scene environmental information and monitoring environmental information; wherein the monitoring environmental information indicates early warning monitoring information of the position of the fire-fighting robot to which the control device belongs; The method further comprises: Acquire a corresponding early warning control strategy according to the scene environment information included in the environment information; According to the corresponding early warning control strategy and the monitored environment information included in the environmental information, early warning information is generated and presented.

6. The method according to any one of claims 1 to 5, characterized in that: The environmental information also includes scene environmental information; the scene environmental information is information indicating the scene in which the fire-fighting robot to which the control device belongs is located; The method further comprises: Acquire path planning information of the fire-fighting robot to which the control device belongs according to the scene environment information included in the environment information; The positioning information and visual information of the fire-fighting robot to which the control device belongs are acquired in real time, and cruise control processing is performed on the fire-fighting robot to which the control device belongs according to the path planning information, the positioning information, and the visual information.

7. The method according to claim 6, characterized in that The method further comprises: generating movement control information in response to a control instruction sent by a control device of at least one other fire-fighting robot and / or a fixed control device; According to the movement control information and the visual information, movement control processing is performed on the fire-fighting robot to which the control device belongs.

8. A control device for fire extinguishing, characterized in that: include: An acquisition module is used to acquire the environmental information around the fire-fighting robot to which the control device belongs in real time; A determination module, used to determine fire extinguishing control information according to the environmental information; The fire extinguishing control information indicates whether fire extinguishing is required; The control module is used to control the fire-fighting robot belonging to the control device to perform fire-fighting processing according to the fire-fighting control information if the fire-fighting control information indicates that fire-fighting control processing is required.

9. A fire-fighting robot, characterized in that: include: A control device, at least one environment sensing device, and at least one fire extinguishing device; the control device is connected to the environment sensing device and the fire extinguishing device, respectively; Wherein, the control device is the device described in any one of claims 1-7.

10. The fire-fighting robot according to claim 9, characterized in that: The fire-fighting robot further includes: at least one of an early warning device and a mobile device; wherein, at least one of the early warning device and the mobile device is connected to the control device.

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