Operation management method and device of fire-fighting robot and robot system

Abstract

The invention relates to an operation management method and device of a fire-fighting robot and a robot system.The operation management method of the fire-fighting robot comprises the steps that the power-on priority of each functional module in the robot system is determined; dynamically adjusting the first power-on time sequence of each functional module based on the power-on priorities of different functional modules to obtain a second power-on time sequence; controlling the power-on operation of each functional module based on the second power-on time sequence; and in response to a power-on operation of any function module, performing self-inspection on the powered-on function module, and determining a first target function module having a fault according to a self-inspection result. According to the method and the device, the problem that the troubleshooting efficiency and the system stability are low due to the fact that the fault position cannot be quickly positioned is solved, the system fault is quickly positioned on the basis of step-by-step power-on, and the troubleshooting efficiency and the system stability are improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to an operation management method, device and robot system for a firefighting robot. Background Art

[0002] As an electromechanical system integrating sensing technology, artificial intelligence, automation and control, intelligent robots are playing an increasingly important role. Among them, firefighting robots are designed to perform firefighting operations in dangerous and explosive environments such as petroleum and chemical industries. While achieving traditional firefighting tasks, they can also perform tasks such as fire scene investigation, gas detection and on-site data feedback, becoming an important tool for modern firefighting emergency rescue. However, the existing firefighting robot management method cannot quickly locate the fault location, resulting in low troubleshooting efficiency and system stability.

[0003] There is currently no effective solution to the problem that related technologies cannot quickly locate the fault location, resulting in low troubleshooting efficiency and system stability. Summary of the invention

[0004] In this embodiment, a firefighting robot operation management method, device and robot system are provided to solve the problem in the related art that the fault position cannot be quickly located, resulting in low troubleshooting efficiency and system stability.

[0005] In a first aspect, in this embodiment, a method for operating and managing a firefighting robot is provided, comprising:

[0006] Determine the power-on priority of each functional module in the robot system;

[0007] Based on the power-on priorities of the different functional modules, dynamically adjust the first power-on sequence of each functional module to obtain a second power-on sequence;

[0008] Based on the second power-on timing sequence, controlling the power-on operation of each of the functional modules;

[0009] In response to a power-on operation of any of the functional modules, a self-check is performed on the powered-on functional module, and a first target functional module in which a fault occurs is determined according to a result of the self-check.

[0010] In some embodiments, determining the power-on priority of each functional module in the robot system includes:

[0011] When the robot system is in a maintenance state, each of the functional modules in the robot system is detected to obtain a failure risk of each of the functional modules;

[0012] The failure risk of each functional module is analyzed and processed by a particle swarm optimization algorithm to obtain the power-on priority of each functional module.

[0013] In some embodiments, determining the power-on priority of each functional module in the robot system includes:

[0014] When the robot system is in working state, the power-on priority of each functional module in the robot system is determined according to the indication information; the indication information includes real-time user instructions and the urgency of different tasks to be executed.

[0015] In some embodiments, in response to a power-on operation of any of the functional modules, performing a self-test on the powered-on functional module includes:

[0016] In response to a power-on operation of any of the functional modules, returning data information of the functional module; the data information is at least one of status data and response data of the functional module;

[0017] Based on the data information, a self-check is performed on the functional module after power-on.

[0018] In some of the embodiments, before each of the functional modules is powered on, the method further includes:

[0019] When the robot system is in a shutdown state, a plurality of second target function modules in the robot system are periodically awakened by a low power consumption timer; the second target function modules are used to monitor the real-time status of the corresponding targets;

[0020] Generate corresponding alarm data according to the abnormal state information detected by the second target function module;

[0021] The alarm data is uploaded to the target platform.

[0022] In some embodiments, when the robot system is in a working state, after controlling the power-on operation of each of the functional modules based on the second power-on sequence, the method further includes:

[0023] Obtaining the real-time power status of the robot system;

[0024] According to the real-time power status, the working mechanism of the robot system is switched; the working mechanism is used to indicate the switch status of different functional modules.

[0025] In some embodiments, when the robot system is in working state, after each functional module self-check is completed, the method further includes:

[0026] Evaluate the health status of each functional module in real time;

[0027] Based on the health status of the functional module, a potential failure of the functional module is identified.

[0028] In a second aspect, in this embodiment, an operation management device for a firefighting robot is provided, comprising:

[0029] An analysis module, used to determine the power-on priority of each functional module in the robot system;

[0030] An adjustment module, configured to dynamically adjust the first power-on sequence of each of the functional modules based on the power-on priorities of the different functional modules to obtain a second power-on sequence;

[0031] A power-on module, used for controlling the power-on operation of each of the functional modules based on the second power-on sequence;

[0032] The self-check module is used to respond to the power-on operation of any of the functional modules, perform a self-check on the functional module after power-on, and determine a first target functional module where a fault occurs according to the self-check result.

[0033] In a third aspect, a robot system is provided in this embodiment, comprising a control module and multiple functional modules, wherein the control module is connected to each of the functional modules, and the control module is used to execute the operation management method of the fire-fighting robot described in the first aspect above.

[0034] In a fourth aspect, in this embodiment, a storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the operation management method of the fire-fighting robot described in the first aspect is implemented.

[0035] Compared with the related art, the operation management method, device and robot system of the fire-fighting robot provided in the present embodiment determine the power-on priority of each functional module in the robot system; based on the power-on priority of different functional modules, dynamically adjust the first power-on sequence of each functional module to obtain the second power-on sequence; based on the second power-on sequence, control the power-on operation of each functional module; in response to the power-on operation of any functional module, perform self-inspection on the powered-on functional module, and determine the first target functional module where the fault occurs according to the self-inspection result, thereby solving the problem that the fault position cannot be quickly located, resulting in low troubleshooting efficiency and system stability, and realizing the rapid location of system faults on the basis of step-by-step power-on, thereby improving troubleshooting efficiency and system stability.

[0036] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0038] Figure 1 It is a hardware structure block diagram of a terminal device of an operation management method of a fire-fighting robot provided in an embodiment of the present application;

[0039] Figure 2 is a flow chart of an operation management method of a fire-fighting robot provided in an embodiment of the present application;

[0040] Figure 3 It is a flowchart of a self-checking method of a water monitor module provided in one embodiment of the present application;

[0041] Figure 4 is a flow chart of a self-checking method of a pan / tilt module provided in an embodiment of the present application;

[0042] Figure 5 is a flow chart of a self-test method of a motor drive module provided in one embodiment of the present application;

[0043] Figure 6 is a flow chart of a self-test method of a gas detection module provided in one embodiment of the present application;

[0044] Figure 7 is a flow chart of a self-test method of a radar ranging module provided in an embodiment of the present application;

[0045] Figure 8 is a flow chart of a self-test method of a battery management module provided in one embodiment of the present application;

[0046] Fig. 9 is a flow chart of a self-check method of an image data transmission module provided in an embodiment of the present application;

[0047] Fig.10 is a schematic diagram of the connection of internal modules of a robot system provided by an embodiment of the present application;

[0048] Fig.11 It is a flow chart of an operation management method of a fire fighting robot provided in a preferred embodiment of the present application;

[0049] Fig.12 It is a structural block diagram of an operation management device for a fire-fighting robot provided in one embodiment of the present application.

[0050] In the figure: 102, processor; 104, memory; 106, transmission device; 108, input and output device; 10, analysis module; 20, adjustment module; 30, power-on module; 40, self-test module. DETAILED DESCRIPTION

[0051] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0052] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the general meaning understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the", "these" and the like in this application do not represent quantitative restrictions, and they can be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether directly or indirectly. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. Usually, the character " / " indicates that the objects associated with each other are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0053] The method embodiment provided in this embodiment can be executed in a terminal, a computer or a similar computing device. For example, running on a terminal, Figure 1 FIG. 1 is a hardware structure diagram of a terminal of the operation management method of the fire fighting robot of this embodiment. Figure 1 As shown, the terminal may include one or more ( Figure 1 Only one is shown in the figure) processor 102 and memory 104 for storing data, wherein processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA. The above terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0054] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the operation management method of the fire-fighting robot in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0055] The transmission device 106 is used to receive or send data via a network. The above network includes a wireless network provided by the communication provider of the terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0056] In this embodiment, a method for operating and managing a firefighting robot is provided. Figure 2 is a flow chart of the operation management method of the fire fighting robot of this embodiment, such as Figure 2 As shown, the process includes the following steps:

[0057] Step S210, determining the power-on priority of each functional module in the robot system;

[0058] Step S220, dynamically adjusting the first power-on sequence of each functional module based on the power-on priority of different functional modules to obtain a second power-on sequence;

[0059] Step S230, controlling the power-on operation of each functional module based on the second power-on sequence;

[0060] Step S240 , in response to a power-on operation of any functional module, a self-test is performed on the powered-on functional module, and a first target functional module having a fault is determined according to a self-test result.

[0061] Specifically, when the robot system is in maintenance state, each functional module in the robot system is tested to obtain the failure risk of each functional module. The failure risk of each functional module is analyzed and processed by the particle swarm optimization algorithm to obtain the power-on priority of each functional module. In this way, the power-on priority of the functional module is adjusted according to the actual maintenance needs of each functional module, which helps to optimize the maintenance process. When the robot system is in working state, the current indication information is obtained, which includes real-time user instructions and the urgency of different tasks to be performed, and the power-on priority of each functional module in the robot system is determined according to the indication information. Among them, the functional modules include water cannon module, binocular camera gimbal module, motor drive module, gas detection module, radar ranging module, battery management module and image data transmission module.

[0062] Furthermore, based on the power-on priority of different functional modules, the first power-on sequence of each functional module is dynamically adjusted to obtain the second power-on sequence, so as to achieve the best arrangement of each module, and control the power-on operation of each functional module according to the module power-on sequence in the second power-on sequence. Among them, the functional modules with high power-on priority are arranged in the front in the second power-on sequence, so that the functional modules with high power-on priority are powered on first, so as to achieve efficient and coordinated working effect. For example, if the current urgent task to be executed requires the use of the communication module, the sensor module and the jet fire extinguishing module, the power-on priority of the communication module, the sensor module and the jet fire extinguishing module is set to be higher, so that the communication module, the sensor module and the jet fire extinguishing module are arranged in the front in the second power-on sequence, so that they can get priority power supply and quickly initialize and execute tasks.

[0063] When any functional module is powered on, the self-test of the functional module is started. The self-test includes but is not limited to the functional status judgment, communication function verification and fault status judgment of the functional module. The self-test result and the system real-time clock (RTC) time are stored in the local Flash memory of the control module to mark the end of the self-test of the corresponding functional module, and the first target functional module where the fault occurs is determined according to the self-test result, and the corresponding fault information is generated and uploaded to the monitoring platform to provide real-time data support for technical personnel, while ensuring that countermeasures can be taken quickly when a fault occurs to reduce the impact of the fault on the system. For example, after the water cannon module is powered on, the self-test of the water cannon module is started, and the communication function of the water cannon module is verified in advance. If the control unit connected to the water cannon module can read the response data returned by the water cannon module, it indicates that the communication function of the water cannon module is normal, and the initial horizontal and vertical angle values ​​of the water cannon module that are actively reported are recorded, and horizontal and vertical movement commands are sent to the water cannon module to control the movement of the water cannon, and the horizontal and vertical angle values ​​after the water cannon moves are read. If the horizontal and vertical angle values ​​after the water cannon moves change compared to the initial horizontal and vertical angle values, the water cannon function status is judged to be normal; conversely, if the horizontal and vertical angle values ​​after the water cannon moves do not change compared to the initial horizontal and vertical angle values, the water cannon function status is judged to be abnormal, thereby determining that the water cannon module has a fault, and generating fault information to upload to the monitoring platform.

[0064] It should be further explained that the firefighting robot can efficiently collaborate with other rescue equipment or team members, and the robot system can share data with other equipment to achieve information exchange and improve the fluency and efficiency of rescue operations. For example, multiple firefighting robots can be used to achieve task allocation and coordinate to respond to a larger range of fire scenes.

[0065] Firefighting robots are designed to carry out firefighting operations in dangerous and explosive environments such as petroleum and chemical industries. While achieving traditional firefighting tasks, they can also perform tasks such as fire scene investigation, gas detection and on-site data feedback, becoming an important tool for modern firefighting emergency rescue. However, existing firefighting robot management methods cannot quickly locate fault locations, resulting in low troubleshooting efficiency and system stability.

[0066] Compared with the prior art, the present application determines the power-on priority of each functional module in the robot system; based on the power-on priority of different functional modules, dynamically adjusts the first power-on sequence of each functional module to obtain the second power-on sequence; based on the second power-on sequence, controls the power-on operation of each functional module; in response to the power-on operation of any functional module, performs a self-check on the functional module after power-on, and determines the first target functional module where the fault occurs based on the self-check result. Based on this, by powering on each functional module in the system step by step according to the dynamically adjusted module power-on sequence, and based on the design of step-by-step power-on, accurately self-checks the functional module after power-on, ensuring the rapid location of the faulty module, solving the problem of being unable to quickly locate the fault location, resulting in low troubleshooting efficiency and system stability, and realizing rapid location of system faults on the basis of step-by-step power-on, improving troubleshooting efficiency and system stability.

[0067] In some embodiments, determining the power-on priority of each functional module in the robot system in step S210 includes the following steps:

[0068] When the robot system is in maintenance status, each functional module in the robot system is tested to obtain the failure risk of each functional module;

[0069] Through the particle swarm optimization algorithm, the failure risk of each functional module is analyzed and processed to obtain the power-on priority of each functional module.

[0070] Specifically, when the robot system is in maintenance, each functional module in the robot system is tested to identify the failure risk of each functional module, that is, whether each functional module needs maintenance, and the failure risk of each functional module is analyzed and processed through the particle swarm optimization algorithm to obtain the power-on priority of each functional module, so that during the maintenance process, the power-on priority of the module can be flexibly adjusted according to the real-time data response. For example, when it is detected that the motor drive module has a greater failure risk, the power-on priority of the motor drive module is increased so that the motor drive module is powered on first, allowing technicians to quickly repair the motor drive module.

[0071] It should be noted that the robot system supports independent power-on for selected functional modules so that technicians can perform troubleshooting and maintenance operations on specific functional modules, while ensuring the normal operation of other modules and the entire system, improving fault location efficiency and simplifying the maintenance process.

[0072] In addition, during the maintenance process, the robot system monitors the operating status of each functional module in real time, obtains the current operating data of each functional module, and analyzes the current operating data in real time through the corresponding algorithm to detect and identify potential faults of the module, which helps to improve the speed and accuracy of fault response and reduce the time of manual troubleshooting. When the system detects a module fault, it generates and records the fault information and uploads the fault information to the monitoring platform. At the same time, the system provides convenient data query and extraction functions, and users can access fault data and daily operation data, providing effective support for fault diagnosis, system performance evaluation and maintenance plan formulation.

[0073] Through this embodiment, when the robot system is in a maintenance state, each functional module in the robot system is detected to obtain the failure risk of each functional module, and the failure risk of each functional module is analyzed and processed through a particle swarm optimization algorithm to obtain the power-on priority of each functional module, so that the corresponding power-on timing control can be subsequently adopted to achieve efficient management of the power-on system of the fire-fighting robot.

[0074] In some embodiments, determining the power-on priority of each functional module in the robot system in step S210 includes the following steps:

[0075] When the robot system is in working state, the power-on priority of each functional module in the robot system is determined according to the indication information; the indication information includes real-time user instructions and the urgency of different tasks to be executed.

[0076] Specifically, when the robot system is in working state, it obtains real-time instruction information, which includes real-time user instructions and the urgency of different tasks to be performed. Among them, real-time user instructions are used to indicate the power-on timing of specific functional modules, and the tasks to be performed include fire extinguishing tasks, fire scene reconnaissance and gas detection.

[0077] Furthermore, according to the indication information, the power-on priority of each functional module in the robot system is determined. For example, if the current urgent task to be executed requires the use of the communication module, sensor module and jet fire extinguishing module, the power-on priority of the communication module, sensor module and jet fire extinguishing module is set higher so that they can get power supply first and quickly initialize and execute the task.

[0078] Through this embodiment, when the robot system is in a working state, the power-on priority of each functional module in the robot system is determined according to the indication information, and the indication information includes real-time user instructions and the urgency of different tasks to be executed. In actual work, key functional modules used to perform emergency tasks can respond quickly, thereby improving task execution efficiency.

[0079] In some embodiments, in response to the power-on operation of any functional module, performing a self-test on the powered-on functional module in step S240 includes the following steps:

[0080] In response to a power-on operation of any functional module, returning data information of the functional module; the data information is at least one of status data and response data of the functional module;

[0081] Based on the data information, the functional modules are self-checked after power-on.

[0082] Specifically, when any functional module is powered on, a self-test of the functional module is started. The self-test includes but is not limited to functional status judgment, communication function verification and fault status judgment of the functional module. The self-test results and system RTC time are stored in the local Flash memory of the control module to mark the end of the self-test of the corresponding functional module. The first target functional module where the fault occurs is determined based on the self-test results, and the corresponding fault information is generated and uploaded to the monitoring platform to provide real-time data support for technical personnel. At the same time, it ensures that countermeasures can be taken quickly when a fault occurs to reduce the impact of the fault on the system.

[0083] The following is a detailed description of the self-test of different functional modules. Figure 3 As shown, after the water cannon module is powered on, the self-test of the water cannon module is started S310, and the communication function of the water cannon module is pre-verified S320. If the control unit connected to the water cannon module cannot successfully read the response data frame returned by the water cannon module, it indicates that the communication function of the water cannon module is abnormal, and it is determined that the water cannon module is faulty. On the contrary, if the control unit connected to the water cannon module can read the response data frame returned by the water cannon module, it indicates that the communication function of the water cannon module is normal, and the initial horizontal and vertical angle values ​​of the water cannon module actively reported are recorded S330, and horizontal and vertical movement commands are sent to the water cannon module to control the movement of the water cannon, and the horizontal and vertical angle values ​​after the water cannon movement are read S340, and it is determined whether the horizontal and vertical angle values ​​after the water cannon movement are changed compared with the initial horizontal and vertical angle values ​​S350. If the horizontal and vertical angle values ​​after the water cannon movement change compared to the initial horizontal and vertical angle values, the water cannon function status is determined to be normal S370; conversely, if the horizontal and vertical angle values ​​after the water cannon movement do not change compared to the initial horizontal and vertical angle values, the water cannon function status is determined to be abnormal S360, thereby determining that the water cannon module has a fault, generating a self-test result S380, and generating fault information to upload to the monitoring platform.

[0084] like Figure 4As shown, after the binocular camera pan-tilt module is powered on, the self-test of the binocular camera pan-tilt module is started S410, the communication function of the pan-tilt module is pre-verified S420, and the angle query command is sent to the pan-tilt module through the control unit to request the pan-tilt module to feedback its own initial horizontal and vertical angle information. If the control unit cannot successfully read the initial horizontal and vertical angle information returned by the water cannon module, it indicates that the communication function of the pan-tilt module is abnormal, and it is determined that the pan-tilt module is faulty. On the contrary, if the control unit can read the initial horizontal and vertical angle information returned by the pan-tilt module, it indicates that the communication function of the pan-tilt module is normal, and the initial horizontal and vertical angle information of the pan-tilt module is recorded S430, and horizontal and vertical movement commands are sent to the pan-tilt module to control the pan-tilt movement, and the horizontal and vertical angle information after the pan-tilt movement is read S440, and it is determined whether the horizontal and vertical angle information after the pan-tilt movement is changed compared with the initial horizontal and vertical angle information S450. If the horizontal and vertical angle values ​​after the movement of the gimbal change compared to the initial horizontal and vertical angle values, the gimbal function status is determined to be normal S470; conversely, if the horizontal and vertical angle values ​​after the movement of the gimbal do not change compared to the initial horizontal and vertical angle values, the gimbal function status is determined to be abnormal S460, thereby determining that the gimbal module has a fault, generating a self-test result S480, and generating fault information to upload to the monitoring platform.

[0085] like Figure 5 As shown, after the motor drive module is powered on, the self-check of the motor drive module is started S510, the communication function of the motor drive module is pre-verified S520, and a fault query command is sent to the motor drive module through the control unit to obtain the fault information currently detected by the drive module, such as overvoltage, undervoltage, overcurrent, overtemperature, Hall fault and no fault state, etc. If the control unit cannot successfully read the fault information returned by the motor drive module, it indicates that the communication function of the motor drive module is abnormal, and it is determined that the motor drive module has a fault. On the contrary, if the control unit can read the fault information returned by the motor drive module, it indicates that the communication function of the motor drive module is normal, and a command is sent to the motor drive module to control the driver to move at a preset speed S530, and the fault information is continuously queried during the driver movement S540, and it is determined whether a fault occurs during the operation S550. If no fault occurs during the operation, it is determined that the movement function of the motor drive module is normal. On the contrary, it is determined that the motor drive module has a fault, and the corresponding fault type is recorded by the control unit, and a self-check result is generated S560, and the fault information is generated and uploaded to the monitoring platform.

[0086] like Figure 6As shown, after the gas detection module is powered on, the self-test of the gas detection module is started S610, and the communication function of the gas detection module is pre-verified S620. If the control unit connected to the gas detection module cannot successfully read the response data frame returned by the gas detection module, it indicates that the communication function of the gas detection module is abnormal, and it is determined that the gas detection module has a fault. On the contrary, if the control unit connected to the gas detection module can read the response data frame returned by the gas detection module, it indicates that the communication function of the gas detection module is normal, and the gas concentration information detected by each gas sensor actively reported by the gas detection module is recorded S630, and it is determined whether the received gas concentration information is within the preset threshold range S640. If the received gas concentration information is within the preset threshold range, it is determined that the functional state of the gas detection module is normal; if a certain gas concentration information is detected to exceed the preset threshold range, it is determined that the functional state of the corresponding gas sensor is abnormal, and the gas sensor is marked as having a fault, and a self-test result is generated S650, and the fault information is generated and uploaded to the monitoring platform.

[0087] like Figure 7 As shown, after the radar ranging module is powered on, the self-test of the radar ranging module is started S710, and the communication function of the radar ranging module is pre-verified S720. If the control unit connected to the radar ranging module cannot successfully read the response data frame returned by the radar ranging module, it indicates that the communication function of the radar ranging module is abnormal, and it is determined that the radar ranging module is faulty. On the contrary, it indicates that the communication function of the radar ranging module is normal, and the response data frame is parsed to obtain the ranging value and the probe working state of the radar ranging module S730. The probe working state includes normal and faulty states. It is determined whether the functional state of the radar ranging module is normal S740. If the working state of the probe is normal, it is determined that the functional state of the radar ranging module is normal; if the working state of the probe is faulty, it is determined that the functional state of the radar ranging module is abnormal, and the radar ranging module is marked as faulty, and a self-test result is generated S750, and fault information is generated and uploaded to the monitoring platform.

[0088] like Figure 8As shown, after the battery management module is powered on, the self-test of the battery management module is started S810, the communication function of the battery management module is pre-verified S820, and a fault query command is sent to the battery management module through the control unit to obtain the fault information currently detected by the battery management module, such as overvoltage, undervoltage, overcurrent, overtemperature and no-fault status, etc. If the control unit cannot successfully read the fault information returned by the battery management module, it indicates that the communication function of the battery management module is abnormal, and it is determined that the battery management module has a fault. On the contrary, it indicates that the communication function of the battery management module is normal, and the response data frame returned by the battery management module is parsed S830 to obtain the battery working status. It is determined whether the battery working status is faulty S840. If the battery working status is no fault, it is determined that the battery is working normally. On the contrary, it is determined that the battery is faulty, and the corresponding fault type is recorded by the control unit, and the self-test result is generated S850, and the fault information is generated and uploaded to the monitoring platform.

[0089] like Fig. 9 As shown, after the image and data transmission module is powered on, the self-test of the image and data transmission module is started S910, and an emergency stop command is sent to the vehicle body in advance to ensure that the vehicle body stops steadily during the self-test process to avoid accidental operations that affect the self-test results. Afterwards, the image transmission and data transmission connection status of the transmitter and receiver are read through the control module to determine whether the connection status is normal S920, and multiple packets of data are read and randomly sent from the control remote control S930 to test the data transmission function and stability. Among them, the vehicle body side parses and records the received data, and the recorded data includes the number of successfully received packets, as well as the specific content parsing results and status of each packet of data S940 to ensure data integrity and accuracy. After the data is sent and received, the self-test result S950 is generated and fed back. The self-test result includes whether abnormal information or data loss is detected.

[0090] For example, Fig.10 As shown in the figure, in the robot system, a microcontroller is used as the control module. The main control chip in the control module is connected to an external flash memory for storing data and programs. It has a debugging serial port and communicates with other modules through some serial ports and a local bus (LOCALBUS), playing a core control and data interaction role in the system. The complex programmable logic device (CPLD) receives the LOCALBUS signal from the control module for logic control and signal processing. The radar ranging module communicates with the control module through a controller area network (CAN) transceiver, and the power module is used to power other modules. It should be noted that other functional modules are also connected to the control module, such as a water cannon module, a binocular camera pan / tilt module, a motor drive module, a gas detection module, a battery management module, and an image data transmission module.

[0091] Through this embodiment, in response to the power-on operation of any functional module, data information of the functional module is returned, and the data information is at least one of the status data and response data of the functional module. Then, based on the data information, the functional module after power-on is self-checked. In this way, after each functional module is powered on, the module is self-checked to effectively identify the fault location and improve the reliability of the system.

[0092] In some of the embodiments, before each functional module is powered on, the operation management method of the fire-fighting robot further includes the following steps:

[0093] When the robot system is in a shutdown state, multiple second target function modules in the robot system are periodically awakened through a low-power timer; the second target function modules are used to monitor the real-time status of the corresponding targets;

[0094] Generate corresponding alarm data according to the abnormal state information detected by the second target function module;

[0095] Upload the alarm data to the target platform.

[0096] Specifically, when the robot system is in a shutdown state, multiple second target function modules in the robot system are periodically awakened through a low-power timer, and corresponding alarm data is generated according to the abnormal state information detected by the second target function module, and the alarm data is uploaded to the target platform so as to inform the user in time and ensure that corresponding maintenance measures are taken quickly. In this embodiment, the second target function module is usually a monitoring module, which is used to monitor the real-time state of the corresponding target, such as a battery monitoring module, a gas detection module, and a pipeline monitoring module.

[0097] Among them, the battery monitoring module is used to monitor the battery voltage to ensure that the battery is within the normal working range. If abnormal conditions such as battery undervoltage are detected, an alarm signal is generated; the gas detection module is used to detect gas concentration in real time to prevent potential gas leakage. If gas abnormalities are detected, a fault alarm is triggered; the pipeline monitoring module is used to monitor whether there is long-term water accumulation in the pipeline to prevent pipeline damage or other related faults.

[0098] Through this embodiment, when the robot system is in the shutdown state, the low-power timer periodically wakes up multiple second target function modules in the robot system, and the second target function modules are used to monitor the real-time status of the corresponding target. According to the abnormal status information detected by the second target function module, the corresponding alarm data is generated, and the alarm data is uploaded to the target platform, so as to adopt an intelligent management strategy to ensure that the remote communication unit and the monitoring unit remain in working state. Continuous monitoring of modules such as battery monitoring, gas detection and pipeline monitoring is realized.

[0099] In some of the embodiments, when the robot system is in a working state, after controlling the power-on operation of each functional module based on the second power-on sequence, the operation management method of the fire-fighting robot further includes the following steps:

[0100] Get the real-time power status of the robot system;

[0101] The working mechanism of the robot system is switched according to the real-time power status; the working mechanism is used to indicate the switch status of different functional modules.

[0102] Specifically, when the robot system is in a working state, the real-time power status of the robot system is obtained, and according to different real-time power statuses, the robot system is switched to a matching working mechanism, and the working mechanism is used to indicate the switch status of different functional modules.

[0103] For example, if the real-time power status indicates that the current power is sufficient, the robot system is controlled to maintain a fully functional working state, such as turning on multiple sensors for environmental monitoring and using high-performance rotating nozzles for fire extinguishing, so as to perform complex rescue tasks. If the real-time power status indicates that the current power is insufficient, non-core functions are turned off to make full use of limited power resources, effectively extend the robot's operating time, and set the body to be unable to switch to high-speed gear to reduce energy consumption and ensure driving safety. In addition, in the low-power state, the fire-fighting robot has the ability to return autonomously and can quickly return to the charging station or other safe areas.

[0104] Through this embodiment, the real-time power status of the robot system is obtained, and the working mechanism of the robot system is switched according to the real-time power status. The working mechanism is used to indicate the switch status of different functional modules. In this way, through intelligent power management, the control system is in a working state adapted to the power status, ensuring the stable operation of the fire-fighting robot and maximizing the performance of the robot.

[0105] In some of the embodiments, when the robot system is in working state, after the self-check of each functional module is completed, the operation management of the fire-fighting robot further includes the following steps:

[0106] Evaluate the health status of each functional module in real time;

[0107] Identify potential failures of functional modules based on their health status.

[0108] Specifically, when the robot system is in operation, the health status of each functional module is evaluated in real time. The health status includes the communication status, operating status, memory and resource usage, data accuracy, etc. of the functional module.

[0109] Furthermore, relevant algorithms are used to analyze the health status of functional modules to identify potential faults of functional modules. If a functional module fails, an early warning is triggered and the user is notified in time so that the faulty module can be quickly maintained. This ensures that the fire-fighting robot can perform tasks stably and efficiently in highly tense situations such as fire rescue, thereby reducing time loss caused by equipment failure.

[0110] Through this embodiment, the health status of each functional module is evaluated in real time, and the potential failure of the functional module is identified based on the health status of the functional module, so that potential circuit failures or module damage can be identified in advance, ensuring that the robot is always in the best operating state, which helps to improve the performance and safety of the robot in actual work.

[0111] The present embodiment is described and illustrated below through preferred embodiments.

[0112] Fig.11 Flowchart of the operation management method of the fire fighting robot of the preferred embodiment. Fig.11 As shown, the operation management method of the fire-fighting robot includes the following steps:

[0113] Step S1110, when the robot system is in working state, determining the power-on priority of each functional module in the robot system according to the indication information; the indication information includes real-time user instructions and the urgency of different tasks to be executed;

[0114] Step S1120, dynamically adjusting the first power-on sequence of each functional module based on the power-on priorities of different functional modules to obtain a second power-on sequence;

[0115] Step S1130, controlling the power-on operation of each functional module based on the second power-on sequence;

[0116] Step S1140 , in response to a power-on operation of any functional module, a self-test is performed on the powered-on functional module, and a first target functional module having a fault is determined according to a self-test result.

[0117] Through this embodiment, when the robot system is in working state, the power-on priority of each functional module in the robot system is determined according to the indication information; the indication information includes real-time user instructions and the urgency of different tasks to be executed. Based on the power-on priority of different functional modules, the first power-on sequence of each functional module is dynamically adjusted to obtain the second power-on sequence, and based on the second power-on sequence, the power-on operation of each functional module is controlled. In response to the power-on operation of any functional module, the powered-on functional module is self-checked, and the first target functional module with a fault is determined according to the self-check result, which solves the problem of being unable to quickly locate the fault location, resulting in low troubleshooting efficiency and system stability, and realizes the rapid positioning of system faults on the basis of step-by-step power-on, improving troubleshooting efficiency and system stability.

[0118] It should be noted that the steps shown in the above process or the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0119] In this embodiment, an operation management device for a firefighting robot is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and will not be repeated hereafter. The terms "module", "unit", "subunit", etc. used below may be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0120] Fig.12 : is a structural block diagram of the operation management device of the fire fighting robot of this embodiment, such as Fig.12 As shown, the device comprises:

[0121] An analysis module 10, used to determine the power-on priority of each functional module in the robot system;

[0122] An adjustment module 20, configured to dynamically adjust a first power-on sequence of each functional module based on power-on priorities of different functional modules to obtain a second power-on sequence;

[0123] A power-on module 30, used to control the power-on operation of each functional module based on the second power-on sequence;

[0124] The self-check module 40 is used to respond to the power-on operation of any functional module, perform a self-check on the powered-on functional module, and determine a first target functional module where a fault occurs according to the self-check result.

[0125] Through the device provided in this embodiment, the power-on priority of each functional module in the robot system is determined; based on the power-on priorities of different functional modules, the first power-on sequence of each functional module is dynamically adjusted to obtain a second power-on sequence; based on the second power-on sequence, the power-on operation of each functional module is controlled; in response to the power-on operation of any functional module, the powered-on functional module is self-checked, and the first target functional module where the fault occurs is determined according to the self-check result, thereby solving the problem of being unable to quickly locate the fault position, resulting in low troubleshooting efficiency and system stability, and realizing rapid positioning of system faults on the basis of step-by-step power-on, thereby improving troubleshooting efficiency and system stability.

[0126] In some of the embodiments, the analysis module 10 is also used to detect each functional module in the robot system when the robot system is in a maintenance state to obtain the failure risk of each functional module; through the particle swarm optimization algorithm, the failure risk of each functional module is analyzed and processed to obtain the power-on priority of each functional module.

[0127] In some of the embodiments, the analysis module 10 is also used to determine the power-on priority of each functional module in the robot system according to the indication information when the robot system is in a working state; the indication information includes real-time user instructions and the urgency of different tasks to be performed.

[0128] In some of the embodiments, the self-test module 40 is also used to return data information of the functional module in response to the power-on operation of any functional module; the data information is at least one of the status data and response data of the functional module; based on the data information, the functional module after power-on is self-tested.

[0129] In some of these embodiments, Fig.12 On the basis of this, the device also includes an intelligent management module, which is used to periodically wake up multiple second target function modules in the robot system through a low-power timer when the robot system is in a shutdown state; the second target function module is used to monitor the real-time status of the corresponding target; according to the abnormal status information detected by the second target function module, corresponding alarm data is generated; and the alarm data is uploaded to the target platform.

[0130] In some of these embodiments, Fig.12 On the basis of, the device also includes a switching module, which is used to obtain the real-time power status of the robot system; according to the real-time power status, the working mechanism of the robot system is switched; the working mechanism is used to indicate the switch status of different functional modules.

[0131] In some of these embodiments, Fig.12On the basis of, the device also includes a monitoring module for evaluating the health status of each functional module in real time; and identifying potential faults of the functional module according to the health status of the functional module.

[0132] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0133] In this embodiment, a robot system is also provided, including a control module and multiple functional modules. The control module is connected to each functional module, and the control module is used to execute the steps in any of the above method embodiments.

[0134] In this embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0135] Optionally, the computer device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0136] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0137] S1, determine the power-on priority of each functional module in the robot system;

[0138] S2, based on the power-on priorities of different functional modules, dynamically adjust the first power-on sequence of each functional module to obtain a second power-on sequence;

[0139] S3, based on the second power-on sequence, controlling the power-on operation of each functional module;

[0140] S4, in response to a power-on operation of any functional module, performing a self-test on the powered-on functional module, and determining a first target functional module where a fault occurs according to a self-test result.

[0141] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and will not be repeated in this embodiment.

[0142] In addition, in combination with the operation management method of the fire-fighting robot provided in the above embodiments, a storage medium can also be provided in this embodiment to implement the operation management method. The storage medium stores a computer program; when the computer program is executed by the processor, any one of the operation management methods of the fire-fighting robot in the above embodiments is implemented.

[0143] It should be understood that the specific embodiments described herein are only used to explain the application, rather than to limit it. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of this application.

[0144] Obviously, the drawings are only some examples or embodiments of the present application. For ordinary technicians in the field, the present application can also be applied to other similar situations based on these drawings without creative work. In addition, it is understandable that although the work done in this development process may be complicated and lengthy, for ordinary technicians in the field, certain changes in design, manufacturing or production based on the technical content disclosed in this application are only conventional technical means and should not be regarded as insufficient content disclosed in this application.

[0145] The term "embodiment" in this application refers to a specific feature, structure or characteristic described in conjunction with the embodiment that can be included in at least one embodiment of the present application. The appearance of this phrase in various locations in the specification does not necessarily mean the same embodiment, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. It is clearly or implicitly understood by those of ordinary skill in the art that the embodiments described in this application can be combined with other embodiments without conflict.

[0146] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of patent protection. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the attached claims.

Claims

1. A method for operating and managing a firefighting robot, characterized in that: include: Determine the power-on priority of each functional module in the robot system; Based on the power-on priorities of the different functional modules, dynamically adjust the first power-on sequence of each functional module to obtain a second power-on sequence; Based on the second power-on timing sequence, controlling the power-on operation of each of the functional modules; In response to a power-on operation of any of the functional modules, a self-check is performed on the powered-on functional module, and a first target functional module in which a fault occurs is determined according to a result of the self-check.

2. The operation management method of the fire-fighting robot according to claim 1, characterized in that: Determining the power-on priority of each functional module in the robot system includes: When the robot system is in a maintenance state, each of the functional modules in the robot system is detected to obtain a failure risk of each of the functional modules; The failure risk of each functional module is analyzed and processed by a particle swarm optimization algorithm to obtain the power-on priority of each functional module.

3. The operation management method of the fire-fighting robot according to claim 1, characterized in that: Determining the power-on priority of each functional module in the robot system includes: When the robot system is in working state, the power-on priority of each functional module in the robot system is determined according to the indication information; the indication information includes real-time user instructions and the urgency of different tasks to be executed.

4. The operation management method of the fire-fighting robot according to claim 1, characterized in that: In response to the power-on operation of any of the functional modules, performing a self-test on the functional module after power-on, comprising: In response to a power-on operation of any of the functional modules, returning data information of the functional module; the data information is at least one of status data and response data of the functional module; Based on the data information, a self-check is performed on the functional module after power-on.

5. The operation management method of the fire-fighting robot according to claim 1, characterized in that: Before each of the functional modules is powered on, the method further includes: When the robot system is in a shutdown state, a plurality of second target function modules in the robot system are periodically awakened by a low power consumption timer; the second target function modules are used to monitor the real-time status of the corresponding targets; Generate corresponding alarm data according to the abnormal state information detected by the second target function module; The alarm data is uploaded to the target platform.

6. The operation management method of the fire-fighting robot according to claim 1, characterized in that: When the robot system is in a working state, after controlling the power-on operation of each of the functional modules based on the second power-on sequence, the method further includes: Obtaining the real-time power status of the robot system; According to the real-time power status, the working mechanism of the robot system is switched; the working mechanism is used to indicate the switch status of different functional modules.

7. The operation management method of the fire-fighting robot according to claim 1, characterized in that: When the robot system is in working state, after each of the functional modules completes self-check, the method further includes: Evaluate the health status of each functional module in real time; Based on the health status of the functional module, a potential failure of the functional module is identified.

8. An operation management device for a fire-fighting robot, characterized in that: include: An analysis module, used to determine the power-on priority of each functional module in the robot system; An adjustment module, configured to dynamically adjust the first power-on sequence of each of the functional modules based on the power-on priorities of the different functional modules to obtain a second power-on sequence; A power-on module, used for controlling the power-on operation of each of the functional modules based on the second power-on timing sequence; The self-check module is used to respond to the power-on operation of any of the functional modules, perform a self-check on the functional module after power-on, and determine a first target functional module where a fault occurs according to the self-check result.

9. A robot system, comprising a control module and a plurality of functional modules, characterized in that: The control module is connected to each of the functional modules, and the control module is used to execute the steps of the operation management method of the fire-fighting robot according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the operation management method of the fire-fighting robot according to any one of claims 1 to 7 are implemented.

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