Construction method of fire-fighting map of fire-fighting robot and readable storage medium

Abstract

The embodiment of the invention provides a construction method of a fire-fighting map of a fire-fighting robot and a readable storage medium, and belongs to the technical field of fire-fighting map construction. The construction method comprises the following steps: driving the fire-fighting robot to move; acquiring a moving track of the fire-fighting robot and road boundary coordinates; and drawing a transformer substation fire-fighting map of the fire-fighting robot according to the moving track and the road boundary coordinates. According to the construction method of the fire-fighting map of the fire-fighting robot, the fire-fighting robot is controlled to move along the fire-fighting path, and the moving track and the road boundary coordinates in the moving process of the fire-fighting robot are captured; the fire-fighting map of the transformer substation can be drawn by combining the moving track of the fire-fighting robot and the road boundary coordinates in the fire-fighting path, operation is easy, extra manpower does not need to be consumed, intelligence and reliability are achieved, and the patrol efficiency is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of fire map construction, and in particular to a fire map construction method for a fire robot and a readable storage medium. Background Art

[0002] An electric power substation refers to a place in the power system where voltage and current are transformed, electric energy is received and distributed. Therefore, substation fire safety is the guarantee for the reliable operation of the substation.

[0003] At present, firefighting robots are often used to conduct regular patrols inside substations. However, the existing firefighting robots still need to be operated by background staff during patrols, which is manpower-consuming and has low patrol efficiency.

[0004] The inventors of the present application discovered during the process of implementing the present invention that the above-mentioned solution in the prior art has the defects of being labor-intensive and having low patrol efficiency. Summary of the invention

[0005] The purpose of the embodiments of the present invention is to provide a method for constructing a firefighting map for a firefighting robot and a readable storage medium, which have the functions of saving manpower and high patrol efficiency.

[0006] In order to achieve the above object, an embodiment of the present invention provides a method for constructing a firefighting map of a firefighting robot, comprising:

[0007] Drive the firefighting robot to move;

[0008] Obtain the movement trajectory and road boundary coordinates of the firefighting robot;

[0009] A substation fire map of the fire-fighting robot is drawn according to the moving trajectory and road boundary coordinates.

[0010] Optionally, obtaining the movement trajectory and road boundary coordinates of the firefighting robot includes:

[0011] A distance measuring sensor is arranged on the side wall of the fire-fighting robot;

[0012] Acquire real-time data of the ranging sensor of the fire-fighting robot during movement;

[0013] Acquire the position of the fire-fighting robot according to the real-time data;

[0014] The moving trajectory and road boundary coordinates of the fire-fighting robot are obtained according to the position of the fire-fighting robot.

[0015] Optionally, the number of the ranging sensors includes four, which are respectively arranged on four side walls of the fire-fighting robot.

[0016] Optionally, acquiring the movement trajectory and road boundary coordinates of the fire-fighting robot according to the position of the fire-fighting robot includes:

[0017] Construct the coordinate system of the fire map;

[0018] Obtaining a distance between the side walls of the fire-fighting robot;

[0019] The moving trajectory of the fire-fighting robot and the coordinates of the road boundary of the substation are obtained according to the distance between the side walls of the fire-fighting robot.

[0020] Optionally, the origin of the coordinate system is located at the starting point of the fire-fighting robot.

[0021] Optionally, acquiring the moving track of the fire-fighting robot and the coordinates of the road boundary of the substation according to the spacing of the side walls of the fire-fighting robot includes:

[0022] Obtaining the distance between two sides of the fire-fighting robot;

[0023] The road width of the substation is calculated according to formula (1):

[0024] d=x1+x2+x0, (1)

[0025] Among them, d is the road width of the substation, x1 is the distance on the left side of the fire-fighting robot, x2 is the distance on the right side of the fire-fighting robot, and x0 is the width of the fire-fighting robot.

[0026] Optionally, acquiring the moving track of the fire-fighting robot and the coordinates of the road boundary of the substation according to the spacing between the side walls of the fire-fighting robot further includes:

[0027] Obtaining a distance in front of the fire-fighting robot;

[0028] Determining whether the distance in front of the fire-fighting robot is less than or equal to the road width;

[0029] When it is determined that the distance in front of the fire-fighting robot is less than or equal to the road width, the coordinates of the road boundary in the front are acquired.

[0030] Optionally, acquiring the moving track of the fire-fighting robot and the coordinates of the road boundary of the substation according to the spacing between the side walls of the fire-fighting robot further includes:

[0031] Obtaining a distance at the rear side of the fire-fighting robot;

[0032] Determining whether the distance behind the fire-fighting robot is less than or equal to the road width;

[0033] When it is determined that the distance at the rear side of the fire-fighting robot is less than or equal to the road width, the coordinates of the road boundary at the rear side are acquired.

[0034] On the other hand, the present invention further provides a computer-readable storage medium, which stores instructions, and the instructions are used to be read by a machine so that the machine executes any of the above construction methods.

[0035] Through the above technical scheme, the method for constructing a fire map of a fire-fighting robot and the readable storage medium provided by the present invention control the fire-fighting robot to move along the fire-fighting path, capture the moving trajectory and road boundary coordinates of the fire-fighting robot during the movement, and combine the moving trajectory of the fire-fighting robot and the road boundary coordinates in the fire-fighting path to draw a fire map of the substation. The operation is simple, no additional manpower is required, it is intelligent and reliable, and the inspection efficiency is effectively improved.

[0036] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0038] Figure 1 is a flow chart of a method for constructing a firefighting map of a firefighting robot according to an embodiment of the present invention;

[0039] Figure 2 It is a flowchart of obtaining a moving trajectory in a method for constructing a firefighting map of a firefighting robot according to an embodiment of the present invention;

[0040] Figure 3 is a flow chart of obtaining road boundary coordinates in a method for constructing a firefighting map for a firefighting robot according to an embodiment of the present invention;

[0041] Figure 4 It is a flowchart of obtaining the front and rear distance of a firefighting robot in a method for constructing a firefighting map of a firefighting robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0043] Figure 1FIG. 1 is a flow chart of a method for constructing a firefighting map of a firefighting robot according to an embodiment of the present invention. Figure 1 In, the construction method may include:

[0044] In step S10, the firefighting robot is driven to move.

[0045] In step S11, the movement trajectory of the firefighting robot and the road boundary coordinates are obtained.

[0046] In step S12, a substation fire map of the fire-fighting robot is drawn according to the movement trajectory and the road boundary coordinates.

[0047] In step S10 to step S12, the firefighting robot is first driven to move along the preset firefighting path, and the firefighting robot identifies its moving trajectory and road boundary coordinates during the movement. Finally, after the movement is completed, the corresponding firefighting map of the firefighting robot firefighting inspection is drawn in combination with the moving trajectory and road boundary coordinates.

[0048] Traditionally, firefighting robots are often used to conduct regular patrols inside substations. However, when patrolling, existing firefighting robots need to be operated by backstage staff, which is labor-intensive and has low patrol efficiency. In this embodiment of the present invention, a firefighting map of the substation can be drawn by capturing the movement trajectory and the coordinates of the road boundary. The operation is simple, no additional manpower is required, and the patrol efficiency is effectively improved.

[0049] In this embodiment of the present invention, during the movement of the fire-fighting robot, it is also necessary to capture / acquire the movement trajectory and the road boundary coordinates. The specific acquisition steps can be as follows: Figure 2 Specifically, Figure 2 In the construction method, the construction method may further include:

[0050] In step S20, a distance measuring sensor is arranged on the side wall of the fire-fighting robot. The number of the distance measuring sensors may include four. Specifically, the four distance measuring sensors are arranged on the four side walls of the fire-fighting robot respectively.

[0051] In step S21, real-time data of the distance measuring sensor of the fire-fighting robot during movement is obtained.

[0052] In step S22, the position of the fire-fighting robot is obtained according to the real-time data.

[0053] In step S23, the movement trajectory of the fire-fighting robot and the road boundary coordinates are obtained according to the position of the fire-fighting robot.

[0054] In step S20 to step S23, a distance measuring sensor is set on the side wall of the fire-fighting robot, and the position of the fire-fighting robot is located according to the real-time data of the distance measuring sensor, so that the movement trajectory of the fire-fighting robot and the road boundary coordinates can be obtained.

[0055] In this embodiment of the present invention, the movement trajectory of the fire-fighting robot and the coordinates of the road boundary can be obtained as follows: Figure 3 Specifically, Figure 3 In the construction method, the construction method may further include:

[0056] In step S30, a coordinate system of the firefighting map is constructed, wherein the origin of the coordinate system is located at the starting point of the firefighting robot.

[0057] In step S31, the distance between the side walls of the fire-fighting robot is obtained, wherein the distance can be directly obtained according to the distance measuring sensor.

[0058] In step S32, the moving trajectory of the fire-fighting robot and the coordinates of the road boundary of the substation are obtained according to the distance between the side walls of the fire-fighting robot.

[0059] In step S30 to step S32, the moving trajectory coordinates of the fire-fighting robot can be obtained by conversion according to the moving speed and moving time of the fire-fighting robot.

[0060] In this embodiment of the present invention, after obtaining the distance between the side walls of the fire fighting robot, the coordinates of the road boundary need to be calculated. The specific calculation steps can be as follows: Figure 4 Specifically, Figure 4 In the construction method, the construction method may further include:

[0061] In step S40, the distance between two sides of the fire-fighting robot is obtained.

[0062] In step S41, the road width of the substation is calculated according to formula (1):

[0063] d=x1+x2+x0, (1)

[0064] Among them, d is the road width of the substation, x1 is the spacing on the left side of the fire-fighting robot, x2 is the spacing on the right side of the fire-fighting robot, and x0 is the width of the fire-fighting robot.

[0065] In step S42, the distance in front of the fire-fighting robot is obtained.

[0066] In step S43, it is determined whether the distance in front of the fire-fighting robot is less than or equal to the road width.

[0067] In step S44, when it is determined that the distance in front of the firefighting robot is less than or equal to the road width, the coordinates of the road boundary in the front are acquired.

[0068] In step S45, the distance behind the fire-fighting robot is obtained.

[0069] In step S46, it is determined whether the distance behind the fire-fighting robot is less than or equal to the road width.

[0070] In step S47, when it is determined that the distance at the rear side of the fire-fighting robot is less than or equal to the road width, the coordinates of the road boundary at the rear side are acquired.

[0071] In step S40 to step S47, the coordinates of the road boundaries on both sides of the firefighting robot are first determined and drawn synchronously. When the firefighting robot encounters a turn, the distance between the front and rear sides of the firefighting robot is obtained, and it is determined whether it is less than or equal to the road width. If the distance between the front or rear sides is less than or equal to the road width, the coordinates of the front or rear road boundaries are obtained and drawn synchronously.

[0072] On the other hand, the present invention provides a computer-readable storage medium storing instructions, wherein the instructions are used to be read by a machine so as to enable the machine to execute any of the above construction methods.

[0073] Through the above technical scheme, the method for constructing a fire map of a fire-fighting robot and the readable storage medium provided by the present invention control the fire-fighting robot to move along the fire-fighting path, capture the moving trajectory and road boundary coordinates of the fire-fighting robot during the movement, and combine the moving trajectory of the fire-fighting robot and the road boundary coordinates in the fire-fighting path to draw a fire map of the substation. The operation is simple, no additional manpower is required, it is intelligent and reliable, and the inspection efficiency is effectively improved.

[0074] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0075] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0076] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0077] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0078] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0079] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0080] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0081] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0082] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for constructing a firefighting map for a firefighting robot, characterized in that: include: Drive the firefighting robot to move; Obtain the movement trajectory and road boundary coordinates of the firefighting robot; A substation fire map of the fire-fighting robot is drawn according to the moving trajectory and road boundary coordinates.

2. The construction method according to claim 1, characterized in that: Obtaining the movement trajectory of the firefighting robot and the road boundary coordinates includes: A distance measuring sensor is arranged on the side wall of the fire-fighting robot; Acquire real-time data of the ranging sensor of the fire-fighting robot during movement; Acquire the position of the fire-fighting robot according to the real-time data; The moving trajectory and road boundary coordinates of the fire-fighting robot are obtained according to the position of the fire-fighting robot.

3. The construction method according to claim 2, characterized in that: The number of the distance measuring sensors includes four, which are respectively arranged on the four side walls of the fire-fighting robot.

4. The construction method according to claim 3, characterized in that: Acquiring the moving trajectory and road boundary coordinates of the fire-fighting robot according to the position of the fire-fighting robot includes: Construct the coordinate system of the fire map; Obtaining a distance between the side walls of the fire-fighting robot; The moving trajectory of the fire-fighting robot and the coordinates of the road boundary of the substation are obtained according to the distance between the side walls of the fire-fighting robot.

5. The construction method according to claim 4, characterized in that: The origin of the coordinate system is located at the starting point of the fire-fighting robot.

6. The construction method according to claim 4, characterized in that: Acquiring the moving track of the fire-fighting robot and the coordinates of the road boundary of the substation according to the distance between the side walls of the fire-fighting robot includes: Obtaining the distance between two sides of the fire-fighting robot; The road width of the substation is calculated according to formula (1): d=x1+x2+x0, (1) Among them, d is the road width of the substation, x1 is the distance on the left side of the fire-fighting robot, x2 is the distance on the right side of the fire-fighting robot, and x0 is the width of the fire-fighting robot.

7. The construction method according to claim 6, characterized in that: Acquiring the moving track of the fire-fighting robot and the coordinates of the road boundary of the substation according to the distance between the side walls of the fire-fighting robot also includes: Obtaining a distance in front of the fire-fighting robot; Determining whether the distance in front of the fire-fighting robot is less than or equal to the road width; When it is determined that the distance in front of the fire-fighting robot is less than or equal to the road width, the coordinates of the road boundary in the front are acquired.

8. The construction method according to claim 7, characterized in that: Acquiring the moving track of the fire-fighting robot and the coordinates of the road boundary of the substation according to the distance between the side walls of the fire-fighting robot also includes: Obtaining a distance at the rear side of the fire-fighting robot; Determining whether the distance behind the fire-fighting robot is less than or equal to the road width; When it is determined that the distance at the rear side of the fire-fighting robot is less than or equal to the road width, the coordinates of the road boundary at the rear side are acquired.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and the instructions are used to be read by a machine so that the machine executes the construction method according to any one of claims 1 to 8.

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