Fire-fighting robot track detection device and method

Abstract

The invention discloses a fire-fighting robot track detection device and method, and relates to the field of track detection. The mobile station and the measuring station are both provided with an equipment host and a GNSS antenna which are connected with each other. An infrared distance meter is also arranged in the measuring station; the server obtains RTCM data of the base station; the mobile station obtains the position information and corrects the position information based on a preset error according to the RTCM data to obtain positioning data; the measuring station collects attitude data and determines positioning data according to the RTCM data; and the upper computer determines advancing track information according to the positioning data and the attitude data. The track detection of the fire-fighting robot can be realized.

Description

Technical Field

[0001] The present application relates to the field of trajectory detection, and in particular to a firefighting robot trajectory detection device and method. Background Art

[0002] A firefighting robot is a robot that replaces firefighters to enter or approach dangerous environments such as fire scenes to perform tasks such as firefighting, rescue, and investigation. In order to cope with increasingly complex firefighting situations, various firefighting robots have emerged. However, the trajectory of existing firefighting robots cannot be determined when they are operating in different scenarios. In other words, the trajectory during use cannot be detected.

[0003] At present, it is difficult to distinguish the trajectory of the fire-fighting robot in time by only displaying the surrounding environment through the remote control, and driving deviation may affect the rescue efficiency. Therefore, it is very important to realize the trajectory detection of the fire-fighting robot to improve the rescue efficiency. Summary of the invention

[0004] The purpose of this application is to provide a fire-fighting robot trajectory detection device and method, which can realize the trajectory detection of the fire-fighting robot.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides a firefighting robot trajectory detection device, comprising: a host computer, a server, a mobile station and a measuring station;

[0007] The mobile station and the measuring station are both connected to the server; the server, the mobile station and the measuring station are all arranged on a target robot; the target robot is used for firefighting operations; the host computer is connected to the server;

[0008] The mobile station and the measuring station are both provided with a device host and a GNSS antenna connected to each other; the measuring station is also provided with an infrared rangefinder; the infrared rangefinder is connected to the device host of the measuring station;

[0009] The server is used to obtain RTCM data of the base station; the RTCM data includes differential parameters used to characterize the differential positioning result;

[0010] The mobile station is used for:

[0011] Acquire location information in real time based on the corresponding GNSS antenna;

[0012] Based on the corresponding device host, according to the RTCM data, the position information is corrected based on a preset error to obtain positioning data;

[0013] The measuring station is used to collect attitude data based on the corresponding GNSS antenna and infrared rangefinder; the attitude data includes: rotation angle and acceleration;

[0014] The measuring station is further used to determine positioning data according to the RTCM data based on the corresponding GNSS antenna and the device host;

[0015] The host computer is used to determine the travel trajectory information according to the positioning data and the posture data.

[0016] Optionally, the mobile station further comprises: a bracket;

[0017] The GNSS antenna of the mobile station is arranged on the bracket, and the GNSS antenna of the mobile station is connected to the equipment host of the mobile station via the bracket.

[0018] Optionally, the distance between the GNSS antenna of the mobile station and the support of the device host of the mobile station is not less than 1 m.

[0019] Optionally, the server comprises: a host, a data transmission radio module and a display; wherein the host comprises an integrated tablet computer and a data acquisition card;

[0020] The data transmission radio module is connected to the mobile station and the measuring station respectively; the data acquisition card is connected to the tablet computer and the data transmission radio module respectively; and the display is connected to the tablet computer.

[0021] Optionally, the host computer is a mobile terminal.

[0022] Optionally, both the server and the mobile station device hosts are provided with aviation plugs.

[0023] Optionally, WiFi communication is adopted among the mobile station, the measuring station and the server.

[0024] In a second aspect, the present application provides a fire-fighting robot trajectory detection method, which is implemented by using the fire-fighting robot trajectory detection device described above; the fire-fighting robot trajectory detection method comprises:

[0025] Acquire information data; the information data includes: RTCM data of the base station, real-time location information acquired based on the GNSS antenna of the mobile station, and attitude data collected based on the GNSS antenna and infrared rangefinder corresponding to the measuring station; the RTCM data includes differential parameters for characterizing the differential positioning results; the attitude data includes: rotation angle and acceleration;

[0026] According to the RTCM data, the position information is corrected based on a preset error to obtain positioning data;

[0027] The travel trajectory information is determined according to the positioning data and the posture data.

[0028] Optionally, the fire-fighting robot trajectory detection method further includes:

[0029] Store detection data; the detection data includes: information data and travel trajectory information.

[0030] Optionally, before obtaining the information data, the following steps are also included:

[0031] A plurality of test experiments are carried out to control and adjust the movement of the target robot; the test experiments include: a straight-line speed test, a straight-line deviation test, a minimum turning diameter test, an obstacle height test, and a braking distance test.

[0032] According to the specific embodiments provided in this application, this application has the following technical effects:

[0033] The present application provides a fire-fighting robot trajectory detection device and method, which obtains the RTCM data of the base station through the server; the mobile station obtains the position information and corrects the position information based on the preset error according to the RTCM data to obtain the positioning data; the measuring station collects the posture data and determines the positioning data according to the RTCM data; the host computer determines the travel trajectory information according to the positioning data and the posture data. Since the mobile station and the measuring station are both provided with interconnected equipment hosts and GNSS antennas, the position information is corrected based on the GNSS positioning technology to obtain the positioning data. In addition, an infrared rangefinder is also provided in the measuring station. The infrared rangefinder and the GNSS antenna are combined to realize the determination of the characteristic points of the target robot, that is, to obtain the posture data. The travel trajectory information is further determined based on the positioning data and the posture data to realize the trajectory detection of the fire-fighting robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 This is a structural diagram of the trajectory detection device for the fire-fighting robot;

[0036] Figure 2 A schematic diagram of the structure of a mobile station; DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0038] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0039] like Figure 1 As shown, in an exemplary embodiment, a fire-fighting robot trajectory detection device is provided, which includes: a host computer, a server, a mobile station and a measuring station.

[0040] The mobile station and the measuring station are both connected to the server; the server, the mobile station and the measuring station are all arranged on the target robot; the target robot is used for firefighting operations; the host computer is connected to the server.

[0041] Both the mobile station and the measuring station are equipped with interconnected equipment hosts and GNSS antennas; the measuring station is also equipped with an infrared rangefinder; the infrared rangefinder is connected to the equipment host of the measuring station. The GNSS antenna refers to the antenna corresponding to the Global Navigation Satellite System (GNSS).

[0042] The server is used to obtain RTCM data from the base station; RTCM data includes differential parameters used to characterize differential positioning results. RTCM refers to the differential signal format determined by the Radio Technical Commission for Maritime Services, and its full English name is Radio Technical Commission for Maritime services.

[0043] The mobile station is used to obtain the location information in real time based on the corresponding GNSS antenna; the mobile station is used to correct the location information based on the preset error according to the RTCM data based on the corresponding device host to obtain the positioning data.

[0044] The measuring station is used to collect attitude data based on the corresponding GNSS antenna and infrared rangefinder; the attitude data includes: rotation angle and acceleration.

[0045] The measurement station is also used to determine positioning data from the RTCM data based on the corresponding GNSS antenna and device host.

[0046] The host computer is used to determine the travel trajectory information according to the positioning data and the posture data.

[0047] As an optional implementation, the mobile station further includes: a bracket; a GNSS antenna of the mobile station is arranged on the bracket, and the GNSS antenna of the mobile station is connected to the device host of the mobile station via the bracket. The distance between the GNSS antenna of the mobile station and the device host of the mobile station is not less than 1m. The composition structure of the mobile station is shown in Figure 2 .

[0048] In one embodiment, the server includes: a host, a data transmission radio module and a display; wherein the host includes an integrated tablet computer and a data acquisition card; the data transmission radio module is connected to the mobile station and the measuring station respectively; the data acquisition card is connected to the tablet computer and the data transmission radio module respectively; and the display is connected to the tablet computer.

[0049] As an optional implementation, the host computer is a mobile terminal. The equipment hosts of the server and the mobile station are both provided with aviation plugs. In addition, WiFi communication can also be adopted between the mobile station, the measuring station and the server.

[0050] The application provides a firefighting robot trajectory detection device, whose working environment temperature is -20℃~+50℃; storage temperature is -40℃~+70℃; humidity is 10%-90%RH, (at 25℃) (at 90%RH, temperature is 35℃), no condensation; atmospheric pressure: 80kPa~120kPa; power supply: (server) DC11V to DC30V (≥60W), can be connected to the car cigarette lighter or external battery; (positioning fusion device) DC14.6V (≥15W) lithium battery charger. Sampling frequency is 100Hz; speed accuracy is 0.03m / s; horizontal positioning accuracy is 1cm+1ppm; time accuracy: 0.01s.

[0051] In actual applications, the measuring station and the mobile station send the collected data to the server in real time and receive the control signal from the server at the same time.

[0052] After the client, that is, the host computer, connects to the server, it can obtain measurement data and issue control commands in real time.

[0053] The server acts as the WIFI master station, which is used to collect and distribute data and control signals based on control commands. At the same time, the RTCM data of the base station is transmitted to the mobile station through the server for precise positioning.

[0054] The display in the server is a 10-inch touch screen, which can be used to display data, key equipment status, and control test status, etc. The server also provides a wired interface to the mobile station and portable measurement station.

[0055] The mobile station can be attached to the robot under test, that is, the target robot, through a suction cup or a magnet.

[0056] In actual applications, a set of electronic gyroscopes is also provided. The electronic gyroscopes are connected to the mobile station via cables and can be installed and removed at any time according to test requirements.

[0057] The measuring station is installed on a tripod for point measurement to ensure the stability of the equipment during measurement; the measuring station can also be placed on a carrier for use.

[0058] The measuring station also has all the functions of the mobile station and can be used as a second mobile station (for example, when testing the robot's autonomous following performance).

[0059] The software built into the server mainly provides information such as device connection status, device operation status, driving status, etc. Among them, the device connection status can be used to understand whether the mobile station, portable measurement station, external gyroscope and other devices are correctly connected; the device operation status can be used to view the real-time status of various functions of each device, such as satellite search, global positioning system (GPS) positioning, and real-time differential positioning (RTK) solution; the driving status can be used to view data such as movement speed, real-time turning radius, and distance between two devices.

[0060] Its system platform is Windows 11; its software development platform is Visual Studio. It can display the number of satellite searches, real-time longitude and latitude, positioning status, solution status, etc. of the mobile station and the measuring station, and use colors to indicate whether the parameters are normal. It can also prominently display the speed, turning radius and distance between devices of the mobile station and the measuring station, display the connection status of each device in the system, display system prompts, warnings, error messages, etc. It can also collect feature points and conduct test control, and conduct simple result analysis on the test data to confirm the validity of the test data.

[0061] The software installed on the client side, i.e. the host computer, mainly provides basic data collection (including equipment settings, parameter input, etc.), test functions (including basic functions and autonomous driving function tests, etc.), durability tests, test report output, test monitoring and test data analysis.

[0062] In actual applications, the software system platform of the host computer requires Windows 10 or above, and the screen resolution is not less than 1024×768 (1920×1080 is recommended); after the network connection is normal, the software automatically connects to the server and displays the connection status; the host computer obtains various data and device status from the server; the device parameters can be set according to the actual installation status of the device, such as installation direction, etc.

[0063] The host computer can acquire and control all characteristic points of the test object; it can select tests, control the preparation, start, and end of the tests, etc.; it can display the measurement data of each device in real time, and display the real-time parameter curves related to the test according to requirements; it can analyze the test data and display the test results; it can read historical data files, view historical data, and recalculate the results; it can read data saved by the server through a USB mobile storage device; and it can automatically generate the test report required by the purchaser.

[0064] The fire-fighting robot trajectory detection device provided in the present application has a high degree of integration between its components, making the device flexible, compact and easy to carry.

[0065] Based on the same inventive concept, the embodiment of the present application also provides a fire robot trajectory detection method implemented by the fire robot trajectory detection device involved above. The implementation scheme for solving the problem provided by the method is similar to the implementation scheme recorded in the above device, so the specific limitations in one or more fire robot trajectory detection method embodiments provided below can refer to the limitations of the fire robot trajectory detection device above, and will not be repeated here.

[0066] In an exemplary embodiment, a fire-fighting robot trajectory detection method is provided, and the fire-fighting robot trajectory detection method is implemented using a fire-fighting robot trajectory detection device.

[0067] The firefighting robot trajectory detection method includes:

[0068] Acquire information data; the information data includes: RTCM data of the base station, real-time location information acquired by the GNSS antenna of the mobile station, and attitude data collected by the GNSS antenna and infrared rangefinder corresponding to the measuring station; RTCM data includes differential parameters used to characterize the differential positioning results; attitude data includes: rotation angle and acceleration.

[0069] According to the RTCM data, the position information is corrected based on the preset error to obtain the positioning data.

[0070] Determine the travel trajectory information based on the positioning data and posture data.

[0071] In one embodiment, the fire-fighting robot trajectory detection method further includes:

[0072] Store detection data; the detection data includes: information data and travel trajectory information.

[0073] As an optional implementation, before acquiring the information data, the method further includes:

[0074] Multiple test trials are carried out to control and adjust the movement of the target robot; the test trials include: straight-line speed test, straight-line deviation test, minimum turning diameter test, obstacle height test and braking distance test.

[0075] For testing experiments, specifically including:

[0076] 1. Straight speed test:

[0077] Obtain motion trajectory and speed-time curve in real time; determine the speed-time curve and average speed result within the 50m range of each test.

[0078] 2. Straight running deviation test:

[0079] Acquire the motion trajectory and speed-time curve in real time; determine the corrected trajectory for each test, the speed-displacement curve within a 50m range, and the maximum deviation result.

[0080] 3. Minimum turning diameter test:

[0081] It can specify 5 maximum turning contour points (obtain the position of each point through the portable measuring station equipment); display the motion trajectory and speed-time curve in real time; the calculation results show the running trajectory of each equipment positioning point and 5 specified contour points, as well as the maximum diameter of all trajectories.

[0082] 4. Climbing grade test:

[0083] The pitch angle-time and elevation-time curves are displayed in real time; the calculation results show the corrected pitch angle-time curve and the final stable pitch angle value.

[0084] 5. Obstacle crossing height test:

[0085] The pitch angle-time, elevation-time, speed-time and pitch angle speed-time curves are displayed in real time; the calculation results show the elevation-displacement curves and tie results of each test.

[0086] 6. Braking distance test:

[0087] The motion trajectory, velocity-time curve, and acceleration-time curve are displayed in real time; the calculation results show the velocity-displacement curve of each test and the average result.

[0088] 7. Test of left and right rotation angle and pitch angle of the boom:

[0089] The yaw angle-time curve, pitch angle-time curve and roll angle-time curve are displayed in real time; the calculation results show the maximum yaw angle / pitch angle-time curve and the maximum yaw angle and pitch angle values ​​after correction for each test.

[0090] 8. Anti-collision performance test:

[0091] You can specify the obstacle position and the position of the robot's closest point to the obstacle (obtain the position of each point through the portable measuring station device), or fill in the distance between the robot and the obstacle; display the running trajectory and speed-time curve in real time; the calculation results show the speed-robot-obstacle distance curve of each test, and display the stop position value.

[0092] 9. Autonomous obstacle avoidance performance test:

[0093] You can specify 5 maximum turning contour points (obtain the position of each point through the portable measuring station device); you can specify 3 obstacle positions (obtain the position of each point through the portable measuring station device) and radius (fill in manually). Real-time display of running trajectory and speed-time curve; calculation results display the trajectory of each test equipment and the trajectory of 5 contour points, and display 3 obstacle contours according to the settings, check whether each contour intersects or overlaps with the obstacle, and display the minimum distance from each contour trajectory to each obstacle if there is no intersection or overlap.

[0094] 10. Autonomous navigation performance test (square trajectory):

[0095] You can choose to specify the positions of 4 positioning points (the positions of each point can be obtained through the portable measuring station equipment), or fill in the side length of the square trajectory; you can specify the position of the positioning center point (the position can be obtained through the portable measuring station equipment) to display the running trajectory and speed-time curve in real time; the calculation results show the positioning center trajectory of each test and the virtual square standard trajectory and speed-time curve, and show the minimum distance between the running trajectory and the 4 positioning points.

[0096] 11. Autonomous following performance test:

[0097] Specify the initial distance of the guide and accompanying equipment; display the running trajectory and speed-time curve of the guide and accompanying equipment in real time; the test results display the guide / accompanying trajectory, guide / accompanying distance-displacement curve, guide / accompanying speed-time curve, maximum speed and maximum distance values ​​of each test.

[0098] 12. Durability test:

[0099] The running track, speed-time curve, pitch angle-time curve are displayed in real time; the test results show the running track, speed-time curve, pitch angle-time curve; the cumulative driving time, driving distance, average speed, number of repeated laps, etc. are displayed.

[0100] By conducting multiple test trials, the movement of the target robot is controlled and adjusted, and finally the tested device meets the set standards.

[0101] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0102] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the device, method and its core idea of ​​this application; at the same time, for those skilled in the art, according to the idea of ​​this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A fire-fighting robot trajectory detection device, characterized in that: The fire-fighting robot trajectory detection device comprises: a host computer, a server, a mobile station and a measuring station; The mobile station and the measuring station are both connected to the server; the server, the mobile station and the measuring station are all arranged on a target robot; the target robot is used for firefighting operations; the host computer is connected to the server; The mobile station and the measuring station are both provided with a device host and a GNSS antenna connected to each other; the measuring station is also provided with an infrared rangefinder; the infrared rangefinder is connected to the device host of the measuring station; The server is used to obtain RTCM data of the base station; the RTCM data includes differential parameters used to characterize the differential positioning result; The mobile station is used for: Acquire location information in real time based on the corresponding GNSS antenna; Based on the corresponding device host, according to the RTCM data, the position information is corrected based on a preset error to obtain positioning data; The measuring station is used to collect attitude data based on the corresponding GNSS antenna and infrared rangefinder; the attitude data includes: rotation angle and acceleration; The measuring station is further used to determine positioning data according to the RTCM data based on the corresponding GNSS antenna and the device host; The host computer is used to determine the travel trajectory information according to the positioning data and the posture data.

2. The fire-fighting robot trajectory detection device according to claim 1, characterized in that: The mobile station further comprises: a bracket; The GNSS antenna of the mobile station is arranged on the bracket, and the GNSS antenna of the mobile station is connected to the equipment host of the mobile station via the bracket.

3. The fire-fighting robot trajectory detection device according to claim 2, characterized in that: The distance between the GNSS antenna of the mobile station and the equipment host of the mobile station shall not be less than 1m.

4. The fire-fighting robot trajectory detection device according to claim 1, characterized in that: The server includes: a host, a data transmission radio module and a display; wherein the host includes an integrated tablet computer and a data acquisition card; The data transmission radio module is connected to the mobile station and the measuring station respectively; the data acquisition card is connected to the tablet computer and the data transmission radio module respectively; and the display is connected to the tablet computer.

5. The fire-fighting robot trajectory detection device according to claim 1, characterized in that: The host computer is a mobile terminal.

6. The fire-fighting robot trajectory detection device according to claim 1, characterized in that: The server and the mobile station equipment host are both provided with aviation plugs.

7. The fire-fighting robot trajectory detection device according to claim 1, characterized in that: The mobile station, the measuring station and the server communicate with each other using WiFi.

8. A firefighting robot trajectory detection method, characterized in that: The fire-fighting robot trajectory detection method is implemented by using the fire-fighting robot trajectory detection device according to any one of claims 1 to 7; The fire-fighting robot trajectory detection method comprises: Acquire information data; the information data includes: RTCM data of the base station, real-time location information acquired based on the GNSS antenna of the mobile station, and attitude data collected based on the GNSS antenna and infrared rangefinder corresponding to the measuring station; the RTCM data includes differential parameters for characterizing the differential positioning results; the attitude data includes: rotation angle and acceleration; According to the RTCM data, the position information is corrected based on a preset error to obtain positioning data; The travel trajectory information is determined according to the positioning data and the posture data.

9. The fire-fighting robot trajectory detection method according to claim 8, characterized in that: The fire-fighting robot trajectory detection method also includes: Store detection data; the detection data includes: information data and travel trajectory information.

10. The fire-fighting robot trajectory detection method according to claim 8, characterized in that: Before obtaining information data, it also includes: A plurality of test experiments are carried out to control and adjust the movement of the target robot; the test experiments include: a straight-line speed test, a straight-line deviation test, a minimum turning diameter test, an obstacle height test, and a braking distance test.

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