Accessory control method of fire rescue robot, controller, robot and medium

Abstract

The invention provides an accessory control method of a fire rescue robot, a controller, the robot and a medium, and relates to the technical field of fire rescue. The robot comprises a mechanical arm and an accessory library, a plurality of accessories are stored in the accessory library, and wireless communication modules are arranged in the accessories. The method comprises the following steps: determining a target accessory required by the current operation of the robot; according to the posture information of the target accessory relative to the mechanical arm, an accessory grabbing path of the mechanical arm is determined; the mechanical arm is controlled to move according to the accessory grabbing path, and the target accessory is taken out of the accessory library; and controlling the target accessory to work through a wireless communication module in the target accessory. According to the method, the accuracy and reliability of accessory control are improved, and therefore the operation efficiency and safety of the fire rescue robot are improved.

Description

Technical Field

[0001] This application relates to the field of fire rescue technology, and in particular to a method for controlling attachments of a fire rescue robot, a controller, a robot, and a medium. Background Technology

[0002] In the event of a major fire, relying on traditional firefighters in certain locations and environments is inefficient and unsafe. As a result, fire rescue robots are becoming increasingly popular.

[0003] In related technologies, fire rescue robots include a robotic arm that integrates multiple tool slots using purely mechanical positioning to store attachments for different rescue operations. During operation, the robot can utilize multiple transmission structures to transmit motor power to different tool slots for rapid attachment changes. Attachment changes are highly dependent on the attachment's own purely mechanical positioning; however, after the robot moves through complex terrain, the attachment's mechanical positioning is prone to change, leading to a high attachment change failure rate and severely impacting operational efficiency. Furthermore, during operation, the robot can only perform simple start-stop control on the attachments, which can easily cause attachment overload damage, safety accidents, or low operational efficiency.

[0004] Therefore, there is a need for an attachment control solution for fire rescue robots that can improve the accuracy and reliability of attachment control, thereby improving operational efficiency and safety. Summary of the Invention

[0005] This application provides a method for controlling attachments of a fire rescue robot, a controller, a robot, and a medium, which can improve the accuracy and reliability of attachment control, thereby improving the operational efficiency and safety of the fire rescue robot.

[0006] In a first aspect, embodiments of this application provide a method for controlling attachments of a fire rescue robot. The robot includes a robotic arm and an attachment library, the attachment library storing multiple attachments, and each attachment having a built-in wireless communication module. The method includes:

[0007] Determine the target attachments required for the robot's current operation;

[0008] Based on the posture information of the target attachment relative to the robotic arm, the attachment grasping path of the robotic arm is determined;

[0009] The robotic arm is controlled to move according to the attachment grasping path to retrieve the target attachment from the attachment library;

[0010] The target attachment is controlled to perform operations via a wireless communication module within the target attachment.

[0011] In one possible implementation, determining the gripping path of the robotic arm based on the posture information of the target attachment relative to the robotic arm includes:

[0012] Determine the storage location of the target attachment in the attachment library, and determine the initial gripping position corresponding to the storage location;

[0013] After controlling the robotic arm to move to the initial grasping position, the target attachment image collected by the first sensing module on the robotic arm is obtained;

[0014] The three-dimensional pose information of the target attachment relative to the robotic arm is obtained by solving the image of the target attachment;

[0015] Based on the three-dimensional posture information, the initial gripping position, and the kinematic model, the attachment gripping path of the robotic arm is determined. The attachment gripping path includes a first path from the initial gripping position to the storage position, and a second path from the storage position to the initial gripping position.

[0016] In one possible implementation, controlling the robotic arm to move according to the attachment grasping path and retrieve the target attachment from the attachment library includes:

[0017] When the robotic arm is controlled to move according to the first path, and the robotic arm moves to the storage position, the quick-change male connector on the robotic arm can engage with the quick-change female connector on the target attachment.

[0018] After detecting that the quick-change male connector and the quick-change female connector are locked, the force sensor on the robotic arm determines whether the target attachment is successfully connected.

[0019] If the target attachment is successfully connected, the robotic arm is controlled to move according to the second path to retrieve the target attachment from the attachment library;

[0020] If the target attachment fails to connect successfully, the robotic arm is controlled to move along the second path for a first preset time, and then the robotic arm is controlled to move along the first path again.

[0021] In one possible implementation, controlling the target attachment to perform operations via a wireless communication module in the target attachment includes:

[0022] Receive attachment description data transmitted by the wireless communication module, and determine the target control parameters of the target attachment based on the attachment description data;

[0023] The target control parameters are transmitted to the target attachment via the wireless communication module, so that the target attachment performs operations according to the target control parameters;

[0024] During the operation of the target attachment, the actual operation data of the target attachment is acquired in real time through the wireless communication module, and the operation of the target attachment is dynamically controlled based on the actual operation data.

[0025] In one possible implementation, determining the target control parameters of the target attachment based on the attachment description data includes:

[0026] Based on the attachment identification information and attachment parameter information in the attachment description data, the target control parameters corresponding to the target attachment are determined;

[0027] or,

[0028] Based on the attachment identification information and attachment parameter information in the attachment description data, the initial control parameters corresponding to the target attachment are determined; based on the attachment status information and / or current working environment information in the attachment description data, the initial control parameters are dynamically adjusted to determine the target control parameters corresponding to the target attachment.

[0029] In one possible implementation, the dynamic feedback control of the target attachment's operation based on the actual operation data includes:

[0030] When abnormal data is detected in the actual operation data, the target control parameters are dynamically adjusted according to the abnormal data, and the adjusted control parameters are transmitted to the target attachment.

[0031] or,

[0032] When abnormal data is detected in the actual operation data, the current posture information of the robotic arm is determined by the image data collected by the second perception module on the robot; the abnormal data is then determined to be real based on the current posture information; if the abnormal data is real, the target control parameters are dynamically adjusted based on the abnormal data.

[0033] The abnormal data refers to the data that occurs when the target attachment malfunctions.

[0034] In one possible implementation, after acquiring the actual operating data of the target attachment in real time via the wireless communication module, the method further includes:

[0035] Save the abnormal data or the actual operation data;

[0036] If the actual operation data is not received within the second preset time period, a communication interruption is determined to have occurred. The communication connection with the wireless communication module is maintained, and after the communication is restored, the cached data sent by the wireless communication module is obtained. The cached data is the data that the wireless communication module failed to send. The target attachment stops operating during the communication interruption.

[0037] Secondly, embodiments of this application provide a controller for a fire rescue robot, comprising:

[0038] The attachment determination module is used to determine the target attachments required for the robot's current operation;

[0039] The attachment control module is used to determine the attachment grasping path of the robotic arm based on the posture information of the target attachment relative to the robotic arm; control the robotic arm to move according to the attachment grasping path to retrieve the target attachment from the attachment library; and control the target attachment to perform operations through the wireless communication module in the target attachment.

[0040] Thirdly, embodiments of this application provide another controller for a fire rescue robot, comprising:

[0041] The processor, and the memory that is in communication with the processor;

[0042] Memory is used to store instructions that the computer executes;

[0043] The processor is configured to execute computer execution instructions stored in memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0044] Fourthly, embodiments of this application provide a fire rescue robot, including: a robotic arm, an attachment library, and a controller as described in the third aspect;

[0045] The attachment library contains multiple attachments, each attachment having a built-in wireless communication module. The wireless communication module is connected to the controller, which is also connected to the robotic arm.

[0046] The robotic arm is equipped with a first sensing module, and the robot is equipped with a second sensing module. The first sensing module is used to collect images of attachments in the attachment library, and the second sensing module is used to collect images of the robotic arm. Both the first sensing module and the second sensing module are connected to the controller.

[0047] The attachment is also equipped with multiple sensors, which are connected to the wireless communication module.

[0048] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect described above.

[0049] In a sixth aspect, embodiments of this application provide a computer program product, including a computer program, which, when executed by a processor, is used to implement the first aspect and / or various possible implementations of the first aspect as described above.

[0050] This application provides a method, controller, robot, and medium for controlling attachments of a fire rescue robot. The robot can be equipped with an attachment library containing multiple attachments. After determining the target attachment required for the current operation, the robot determines the attachment grasping path based on the target attachment's posture information relative to the robotic arm, and controls the robotic arm to move according to the grasping path to retrieve the target attachment from the attachment library. This setup enables active attachment searching and precise positioning, compensating for purely mechanical attachment positioning, improving the success rate and reliability of attachment replacement control, and thus increasing the robot's operational efficiency. Furthermore, the attachments can be equipped with built-in wireless communication modules, allowing the robot to communicate with the attachments and control them to perform operations. This enables collaborative and closed-loop operations of the attachments, improving the accuracy and reliability of attachment control, thereby enhancing the operational efficiency and safety of the fire rescue robot. Attached Figure Description

[0051] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0052] Figure 1 This is a schematic diagram of the structure of a fire rescue robot according to an embodiment of this application;

[0053] Figure 2 This is a flowchart of an attachment control method for a fire rescue robot according to an embodiment of this application;

[0054] Figure 3 This is a partial structural schematic diagram of a fire rescue robot according to an embodiment of this application;

[0055] Figure 4 This is a schematic diagram of the structure of a quick-change male connector and a quick-change female connector according to an embodiment of this application;

[0056] Figure 5 This is a schematic diagram of a robot demolition operation according to an embodiment of this application;

[0057] Figure 6 This is a schematic diagram of a robot collision operation according to an embodiment of this application;

[0058] Figure 7 This is a schematic diagram of the controller of a fire rescue robot according to an embodiment of this application;

[0059] Figure 8 This is a schematic diagram of the controller of a fire rescue robot according to another embodiment of this application.

[0060] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0061] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0062] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0063] The collection, storage, use, processing, transmission, provision, and disclosure of financial data or user data involved in the technical solution of this application all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0064] It should be noted that in the embodiments of this application, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of this application. However, it does not mean that the applicant has used or necessarily used the solution.

[0065] It should also be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0066] The attachment control method, controller, robot, and medium of the fire rescue robot of this application can be used in the field of fire rescue, or in any field other than fire rescue, such as the field of attachment control. The application field of the attachment control method, controller, robot, and medium of the fire rescue robot of this application is not limited.

[0067] The attachment control method, controller, robot, and medium of the fire rescue robot of this application can be applied to fire rescue scenarios. Any fire rescue-related scenario, such as indoor fire fighting and rescue, outdoor fire fighting and rescue, fire demolition, etc., can be applied to the attachment control method, controller, robot, and medium of the fire rescue robot of this application.

[0068] In the event of a major fire, relying on traditional firefighters in certain locations and environments is inefficient and unsafe. As a result, fire rescue robots are becoming increasingly popular.

[0069] In related technologies, fire rescue robots include a robotic arm that integrates multiple tool slots using purely mechanical positioning to store attachments for different rescue operations. During operation, the robot can utilize multiple transmission structures to transmit motor power to different tool slots for rapid attachment changes. Attachment changes are highly dependent on the attachment's own purely mechanical positioning; however, after the robot moves through complex terrain, the attachment's mechanical positioning is prone to change, leading to a high attachment change failure rate and severely impacting operational efficiency. Furthermore, during operation, the robot can only perform simple start-stop control on the attachments, which can easily cause attachment overload damage, safety accidents, or low operational efficiency.

[0070] Based on the above-mentioned technical problems, the inventive concept of this application is to provide an attachment control scheme for fire rescue robots that can improve the accuracy and reliability of attachment control, thereby improving operational efficiency and safety.

[0071] This application provides a method, controller, robot, and medium for controlling attachments of a fire rescue robot. The robot can be equipped with an attachment library containing multiple attachments. After determining the target attachment required for the current operation, the robot determines the attachment grasping path based on the target attachment's posture information relative to the robotic arm, and controls the robotic arm to move according to the grasping path to retrieve the target attachment from the attachment library. This setup enables active attachment searching and precise positioning, compensating for purely mechanical attachment positioning, improving the success rate and reliability of attachment replacement control, and thus increasing the robot's operational efficiency. Furthermore, the attachments can be equipped with built-in wireless communication modules, allowing the robot to communicate with the attachments and control them to perform operations. This enables collaborative and closed-loop operations of the attachments, improving the accuracy and reliability of attachment control, thereby enhancing the operational efficiency and safety of the fire rescue robot.

[0072] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0073] Figure 1 This is a schematic diagram of the structure of a fire rescue robot according to an embodiment of this application, as shown below. Figure 1 As shown, the fire rescue robot includes a robotic arm, an attachment library, and a controller. The robotic arm is equipped with a first sensing module, a force sensor, and a displacement sensor. The robot also has a second sensing module. All three modules are connected to the controller. The attachment library contains multiple attachments, each equipped with a wireless communication module, a battery, and various sensors. These sensors are connected to the wireless communication module, which in turn communicates with the controller. The controller can determine the target attachment required for the robot's current task; determine the attachment grasping path based on the attachment's posture relative to the robotic arm; control the robotic arm to move according to the grasping path and retrieve the target attachment from the attachment library; and control the target attachment to perform the task via its wireless communication module.

[0074] Figure 2 This is a flowchart illustrating a method for controlling the attachments of a fire rescue robot according to an embodiment of this application. This embodiment describes the method using the controller (hereinafter referred to as the controller) of the fire rescue robot as the executing entity. The robot includes a robotic arm and an attachment library, which stores multiple attachments. Each attachment has a built-in wireless communication module, such as... Figure 2 As shown, the attachment control method of the fire rescue robot may include the following steps:

[0075] S201: Determine the target attachments required for the robot's current task.

[0076] In this embodiment, the fire rescue robot can be equipped with an attachment library, which can contain multiple storage slots. Each storage slot is equipped with a purely mechanical positioning structure to position the attachments. The storage slots can be tool racks and do not contain any active electrical components to adapt to fire rescue scenarios and prevent damage to the attachment library from the fire scene.

[0077] In this embodiment, the attachments may include, but are not limited to, electric cutting attachments, gripper attachments, demolition attachments, etc. Those skilled in the art can flexibly set the type of attachments according to actual needs, and no restrictions are imposed here.

[0078] For example, Figure 3 This is a partial structural diagram of a fire rescue robot according to an embodiment of this application, as shown below. Figure 3 As shown, the fire rescue robot includes a robotic arm and an attachment library. The attachment library has three storage slots for storing electric cutting attachments, gripper attachments, and demolition attachments.

[0079] In this embodiment, the attachment can have a built-in 24V power battery, a wireless communication module, and an attachment end controller (microcontroller). The attachment can also be equipped with various sensors (such as current / voltage sensors, temperature sensors, displacement / collision sensors, etc.). All of the various sensors are connected to the wireless communication module, and the attachment end controller can be connected to the various sensors and the wireless communication module respectively.

[0080] In this embodiment, during operation, the operator can input information such as attachment name and attachment number into the controller, and the controller can determine the target attachment required for the robot's current operation based on this information.

[0081] Alternatively, during operation, the operator can input the current task into the controller, such as demolition, and the controller can determine the target attachment corresponding to the current task based on the pre-set task-attachment correspondence.

[0082] Alternatively, the robot can be equipped with a perception module. The controller can identify the current work scene and the corresponding target attachment based on the information collected by the perception module (using neural network models, etc.). The perception module can include, but is not limited to, cameras, depth cameras, and LiDAR.

[0083] S202: Determine the gripping path of the robotic arm based on the posture information of the target attachment relative to the robotic arm.

[0084] In this embodiment, a sensing module can also be installed on the robotic arm. After the target attachment is determined, the robotic arm can be moved to the initial gripping position corresponding to the target attachment (which can be preset using the pure mechanical positioning of the target attachment) so that the sensing module on the robotic arm can collect image data including the target attachment.

[0085] In this embodiment, the posture information of the target attachment relative to the robotic arm can be determined based on the image data including the target attachment and the current position of the robotic arm. Then, based on this and the kinematic model, the attachment grasping path of the robotic arm can be determined to compensate for the purely mechanical positioning of the attachment.

[0086] S203: Control the robotic arm to move according to the attachment grasping path and retrieve the target attachment from the attachment library.

[0087] In this embodiment, after determining the attachment gripping path, the robotic arm is controlled to move according to the attachment gripping path, so that the target attachment can be quickly and accurately retrieved from the attachment library.

[0088] S204: Control the target attachment to perform operations via the wireless communication module in the target attachment.

[0089] In this embodiment, the controller can acquire data generated during the actual operation of the target attachment through the wireless communication module, and perform dynamic feedback control on the operation of the target attachment based on this data, thereby realizing the collaborative operation and closed-loop operation of the attachment and improving the accuracy and reliability of attachment control.

[0090] In this embodiment, an attachment library containing multiple attachments can be installed on the robot. After determining the target attachment required for the robot's current task, the robot's attachment grasping path is determined based on the target attachment's posture information relative to the robotic arm. The robotic arm is then controlled to move according to the grasping path to retrieve the target attachment from the attachment library. This setup enables active attachment searching and precise positioning, compensating for purely mechanical attachment positioning and improving the success rate and reliability of attachment replacement control, thereby increasing the robot's operational efficiency. Furthermore, the attachments can be equipped with built-in wireless communication modules, allowing the robot to communicate with them and control the target attachments to perform tasks. This enables collaborative and closed-loop operations of the attachments, improving the accuracy and reliability of attachment control, and ultimately enhancing the operational efficiency and safety of the fire rescue robot.

[0091] In one possible implementation, step S202, which determines the gripping path of the robotic arm based on the posture information of the target attachment relative to the robotic arm, may include:

[0092] S11: Determine the storage location of the target attachment in the attachment library, and determine the initial grab position corresponding to the storage location.

[0093] S12: After controlling the robotic arm to move to the initial grasping position, acquire the target attachment image collected by the first sensing module on the robotic arm.

[0094] S13: The three-dimensional posture information of the target attachment relative to the robotic arm is obtained by solving the target attachment image.

[0095] S14: Based on the three-dimensional posture information, the initial gripping position, and the kinematic model, determine the attachment gripping path of the robotic arm. The attachment gripping path includes a first path from the initial gripping position to the storage position and a second path from the storage position to the initial gripping position.

[0096] In this embodiment, the storage positions of each attachment in the attachment library can be fixed using purely mechanical positioning. For example, storage position 1 stores cutting attachments, storage position 2 stores gripper attachments, etc. Those skilled in the art can flexibly set the storage positions of each attachment in the attachment library according to actual needs, and no restrictions are imposed here.

[0097] In this embodiment, the initial gripping position corresponding to the storage position can also be preset. Those skilled in the art can set it flexibly according to actual needs. As long as the robotic arm is in the initial gripping position, the first sensing module on the robotic arm can collect the target attachment image containing the target attachment.

[0098] In this embodiment, the first sensing module may include, but is not limited to, a camera, a depth camera, a lidar, etc., as long as the first sensing module can acquire an image of the target attachment containing the target attachment.

[0099] In this embodiment, the process of calculating the three-dimensional posture information of the target relative to the robotic arm can be referred to the relevant prior art, and will not be described in detail here.

[0100] In this embodiment, the process of generating the gripping path of the robotic arm's attachments can refer to relevant existing technologies, and will not be described in detail here.

[0101] In this embodiment, the starting point of the first path (initial gripping position) can be the ending point of the second path, and the ending point of the first path (the storage position of the target attachment) can be the starting point of the second path.

[0102] In this embodiment, if the first sensing module fails to capture an image of the target attachment, i.e., the target attachment is not in place, the robot pauses its operation and outputs a message indicating that the attachment is not in place, so as to prompt the operator to put the target attachment back in time.

[0103] It should be noted that before determining the location of the target attachment in the attachment library, it is necessary to first determine whether the robotic arm currently holds the attachment. If it does not hold the attachment, the step of determining the attachment grasping path of the robotic arm based on the posture information of the target attachment relative to the robotic arm can be executed. If it holds the attachment, it is necessary to first determine whether the currently held attachment is the target attachment. If it is the target attachment, the step of controlling the target attachment to perform operations through the wireless communication module in the target attachment can be directly executed. If it is not the target attachment, the attachment return path can be generated based on the location of the currently held attachment in the attachment library and the current position of the robotic arm, and the held attachment can be returned to the attachment library according to the attachment return path. The generation of the attachment return path can refer to the generation method of the attachment grasping path, and will not be elaborated here.

[0104] In this embodiment, by first determining the storage location of the target attachment in the attachment library and its corresponding initial gripping position, and then controlling the robotic arm to move to the initial gripping position and acquiring an image of the target attachment, the target attachment can be quickly located, providing a foundation for subsequent precise gripping. The three-dimensional posture information of the target attachment relative to the robotic arm is calculated based on the image, eliminating positioning errors caused by robotic arm positioning errors, attachment placement deviations, and environmental interference, significantly improving the accuracy and robustness of attachment pose recognition. Combining the three-dimensional posture information, the initial gripping position, and kinematic model planning, an attachment gripping path including a round-trip path is obtained, enabling intelligent planning of the robotic arm's gripping path and improving the continuity, safety, and efficiency of the gripping action.

[0105] In one possible implementation, step S203, which controls the robotic arm to move according to the attachment grasping path and retrieve the target attachment from the attachment library, may include:

[0106] S21: Control the robotic arm to move according to the first path, so that when the robotic arm moves to the storage position, the quick-change male head on the robotic arm can engage with the quick-change female head on the target attachment.

[0107] S22: After detecting that the quick-change male and quick-change female connectors are locked, determine whether the target attachment is successfully connected based on the force sensor on the robotic arm.

[0108] S23: If the target attachment is successfully connected, control the robotic arm to move according to the second path and retrieve the target attachment from the attachment library.

[0109] S23: If the target attachment fails to connect successfully, the robotic arm is controlled to move along the second path for a first preset time, and then the robotic arm is controlled to move along the first path again.

[0110] For example, Figure 4 This is a schematic diagram of the structure of a quick-change male connector and a quick-change female connector according to an embodiment of this application. The end effector of the robotic arm may be provided with... Figure 4 The quick-change male connector shown can be equipped with a [feature / feature] on the upper end of the target attachment. Figure 4 The quick-change female connector shown can be used to connect the robotic arm to the target attachment by combining the quick-change male connector and the quick-change female connector.

[0111] In this embodiment, after the quick-change male and quick-change female connectors are combined, the controller will sense the locking signal. Then, the controller will determine whether the mass of the robotic arm has increased (whether the force signal changes before and after locking) by the signal collected by the force sensor. If it increases, it is determined that the robotic arm is successfully connected to the target attachment.

[0112] In this embodiment, after the robotic arm is successfully connected to the target attachment, it can first be controlled to move along the second path for a certain period of time. Then, the position sensor / displacement sensor on the robotic arm is used to determine whether the target attachment has been removed. If it has been removed, the robotic arm is controlled to continue moving along the second path.

[0113] In this embodiment, if the locking force signal remains unchanged, it is determined that the robotic arm and the target attachment have not been successfully connected. Then, after controlling the robotic arm to move according to the second path for a first preset time, the robotic arm is controlled to move according to the first path again, that is, the robotic arm is controlled to retract slightly and then the grasping action is executed again.

[0114] In this embodiment, the first preset duration can be flexibly set by those skilled in the art according to actual needs, and no restrictions are imposed here.

[0115] In this embodiment, by controlling the robotic arm to move along the first path, the quick-change male connector and the quick-change female connector of the target attachment are precisely engaged, enabling rapid docking between the robotic arm and the attachment, improving attachment replacement efficiency and docking reliability. Force sensor signals are used to determine whether the quick-change male and female connectors are locked, accurately identifying the mechanical connection status and avoiding problems such as loose connections or insufficient locking, thus improving the safety and stability of the attachment replacement process. If the robotic arm and the target attachment fail to connect successfully, the robotic arm is controlled to retract along the second path for a first preset time and then re-execute the first path to attempt docking. This enables automatic retry and correction after docking failure, requiring no manual intervention, improving the success rate and automation level of automatic attachment replacement, and ensuring a reliable connection between the robotic arm and the attachment.

[0116] In one possible implementation, step S204, which controls the target attachment to perform operations via the wireless communication module in the target attachment, may include:

[0117] S31: Receive attachment description data transmitted by the wireless communication module, and determine the target control parameters of the target attachment based on the attachment description data.

[0118] S32: The target control parameters are sent to the target attachment via the wireless communication module so that the target attachment can perform operations according to the target control parameters.

[0119] S33: During the operation of the target attachment, the actual operation data of the target attachment is acquired in real time through the wireless communication module, and the operation of the target attachment is dynamically controlled based on the actual operation data.

[0120] In this embodiment, the attachment description data may include, but is not limited to: attachment identification information, attachment parameter information (including maximum torque, speed range, rated power, sensor type and threshold, etc.), and attachment status information (battery power, self-test status, etc.).

[0121] In this embodiment, a smart handshake operation can be performed before receiving the attachment description data transmitted by the wireless communication module, and the controller and the wireless communication module establish a connection via wireless WIFI UDP.

[0122] In this embodiment, the attachment end can be equipped with various sensors (such as current / voltage sensors, temperature sensors, displacement / collision sensors, etc.) to collect real-time operational data generated by the target attachment during operation (real-time collection of motor current, speed, temperature, collision sensor data, etc.). These sensors can be connected to a wireless communication module to transmit the actual operational data to the controller.

[0123] In this embodiment, by receiving the attachment description data of the target attachment via a wireless communication module, the system can automatically identify and match the target control parameters of the corresponding attachment, enabling rapid adaptation to different attachments and automatic parameter configuration, thereby improving the versatility and intelligence of attachment operations. Sending the target control parameters to the target attachment via wireless communication allows for remote wireless control of the target attachment's operating status, eliminating complex wiring harnesses, simplifying the system structure, and improving operational flexibility. Real-time acquisition of the target attachment's actual operating data during operation and dynamic feedback control enable real-time correction of operational deviations, ensuring operational accuracy and stability, achieving closed-loop control of attachment operations, and improving overall operational quality and reliability.

[0124] In one possible implementation, the step S31 above, determining the target control parameters of the target attachment based on the attachment description data, may include any of the following:

[0125] A: Based on the attachment identification information and attachment parameter information in the attachment description data, determine the target control parameters corresponding to the target attachment.

[0126] B: Based on the attachment identification information and attachment parameter information in the attachment description data, determine the initial control parameters corresponding to the target attachment; based on the attachment status information and / or current working environment information in the attachment description data, dynamically adjust the initial control parameters to determine the target control parameters corresponding to the target attachment.

[0127] In this embodiment, the control parameters may include the cutting attachment motor speed, the collision sensor sensitivity threshold, the robotic arm posture, etc., which can be flexibly set according to the specific attachment type.

[0128] In this embodiment, the initial control parameters can be empirical data of the attachment, or parameters obtained using a neural network model and / or historical data.

[0129] In this embodiment, the current working environment information may include, but is not limited to, temperature information and working space.

[0130] In this embodiment, target control parameters can be directly determined based on attachment identification and parameter information, thereby quickly and accurately matching the control parameters corresponding to the target attachment. This enables automatic identification and one-click configuration of control parameters for different attachments, effectively improving the efficiency of parameter configuration and system adaptability after attachment replacement. Furthermore, initial control parameters can be determined first based on attachment identification and parameter information, and then dynamically adjusted in conjunction with attachment status information and / or current operating environment information. This allows for further optimization of control parameters based on real-time operating conditions, building upon basic parameter matching. This makes the target control parameters more closely match actual operational needs, improving the adaptability, accuracy, and control stability of attachment operations, and achieving intelligent and refined attachment control.

[0131] In one possible implementation, the dynamic feedback control of the target attachment's operation based on actual operation data in step S33 above may include any of the following:

[0132] C: When abnormal data is detected in the actual operation data, the target control parameters are dynamically adjusted according to the abnormal data, and the adjusted control parameters are transmitted to the target attachment.

[0133] D: When abnormal data is detected in the actual operation data, the current posture information of the robotic arm is determined by the image data collected by the second sensing module on the robot; the abnormal data is determined to be real based on the current posture information; if the abnormal data is real, the target control parameters are dynamically adjusted based on the abnormal data.

[0134] Abnormal data refers to data that occurs when the target attachment operation is abnormal.

[0135] In this embodiment, abnormal data can be data that occurs when the target attachment malfunctions, such as current / voltage exceeding a threshold, collision signals, etc. Those skilled in the art can flexibly set it according to actual conditions, and the abnormal data corresponding to different attachments can be different or not completely the same.

[0136] In this embodiment, the second sensing module may include, but is not limited to, a camera, a depth camera, a lidar, etc.

[0137] In this embodiment, while collecting data, the target attachment can also monitor the motor current in real time. If the motor current exceeds the set current threshold, it is determined that a stall or overload has occurred, and the target attachment can be controlled to stop working.

[0138] For example, Figure 5 This is a schematic diagram of a robot demolition operation according to an embodiment of this application, as shown below. Figure 5 As shown, during constant power demolition, when the controller detects an increase in motor current (due to encountering harder materials), it can instruct the robotic arm to reduce its feed speed to maintain constant power and prevent stalling.

[0139] For example, Figure 6 This is a schematic diagram of a robot collision operation according to an embodiment of this application, as shown below. Figure 6 As shown, when the collision sensor / displacement sensor on the attachment is triggered, the controller can combine the attachment's pose and its own sensor data to confirm whether the collision is real. If the collision is real, it will immediately instruct the robotic arm to stop moving and retract slightly, while recording and reporting the event.

[0140] In this embodiment, when abnormal data is detected in the actual operation data, the target control parameters can be dynamically adjusted based on the abnormal data and sent to the target attachment. This allows for rapid response to operational anomalies, timely correction of control strategies, prevention of escalation of abnormal conditions, and improvement of the attachment's safety, stability, and fault tolerance. Furthermore, after detecting abnormal data, image data can be collected through the second sensing module and combined with the current posture information of the robotic arm to determine the authenticity of the anomaly. Parameter adjustments can then be made for genuine anomalies, effectively eliminating false alarms, interference signals, and other false anomalies. This improves the accuracy and reliability of anomaly judgment, avoids control logic disorder caused by misjudgment, achieves more precise and robust feedback control, and significantly improves the system's adaptability and control precision in complex operating environments.

[0141] In one possible implementation, after acquiring the actual operating data of the target attachment in real time via the wireless communication module in step S33 above, the following may also be included:

[0142] S41: Save abnormal data or actual operation data.

[0143] S42: If no actual work data is received within the second preset time period, it is determined that a communication interruption has occurred. The communication connection with the wireless communication module is maintained. After the communication is restored, the cached data sent by the wireless communication module is obtained. The cached data is the data that the wireless communication module failed to send. The target attachment stops working during the communication interruption.

[0144] In this embodiment, after the controller receives the actual operation data transmitted in real time from the attachment end, it can cache the actual operation data or abnormal data in the actual operation data in the local memory.

[0145] In this embodiment, the second preset duration can be flexibly set by those skilled in the art according to actual needs, and no restrictions are imposed here.

[0146] In this embodiment, if the target attachment detects a communication timeout, it immediately activates a local safety policy (pause operation, maintain position, activate local emergency stop, etc.) and caches the unsuccessfully sent data in the local memory, and resends it after the communication connection is restored.

[0147] In this embodiment, by saving abnormal data or actual operation data, data recording and traceability of the attachment's operation process can be achieved, facilitating subsequent fault diagnosis, parameter optimization, and operation analysis, and improving the system's maintainability and iterative optimization capabilities. If no actual operation data is received within a second preset time period, communication is determined to be interrupted, and continuous attempts are made to re-establish the communication connection. Simultaneously, the target attachment is controlled to stop operation during the communication interruption, avoiding safety risks such as attachment loss of control or malfunction due to communication anomalies, and ensuring the safety and reliability of the operation process. After communication is restored, the cached data of the wireless communication module can be obtained, ensuring the integrity and continuity of the operation data, avoiding data loss, and ensuring that the system can quickly and stably continue to execute the operation task after the communication anomaly is restored, improving the system's communication reliability and operation continuity in complex wireless environments.

[0148] The attachment control method of the fire rescue robot of this application is described below with a specific embodiment.

[0149] In one specific embodiment, a fire occurs in a certain location, and firefighters use a fire rescue robot for rescue. The robot includes a robotic arm, an attachment library, and a controller. The robotic arm is equipped with a first camera, a force sensor, and a displacement sensor, and the robot is also equipped with a second camera. The first camera, force sensor, displacement sensor, and second camera are all connected to the controller.

[0150] The attachment library contains multiple attachments, each equipped with a wireless communication module, a battery, and various sensors. The sensors are connected to the wireless communication module, which in turn communicates with the controller.

[0151] The attachment control process of the fire rescue robot during this process is as follows:

[0152] The first step is for the controller to acquire image data from the second camera and identify the current work scene and the target attachment corresponding to the current work scene based on the image data.

[0153] The second step is for the controller to determine the storage location of the target attachment in the attachment library and the initial gripping position corresponding to the storage location; after controlling the robotic arm to move to the initial gripping position, the controller acquires the target attachment image collected by the first sensing module on the robotic arm.

[0154] The third step is for the controller to calculate the three-dimensional posture information of the target attachment relative to the robotic arm based on the target attachment image. Based on the three-dimensional posture information, the initial gripping position and the kinematic model, the controller determines the attachment gripping path of the robotic arm. The attachment gripping path includes a first path from the initial gripping position to the storage position and a second path from the storage position to the initial gripping position.

[0155] Fourth, the controller controls the robotic arm to move according to the first path. When the robotic arm moves to the storage position, the quick-change male head on the robotic arm engages with the quick-change female head on the target attachment and sends a locking signal to the controller.

[0156] Fifth, after the controller detects that the quick-change male and quick-change female connectors are locked, it determines that the target attachment is successfully connected based on the force sensor on the robotic arm, and controls the robotic arm to move according to the second path to retrieve the target attachment from the attachment library.

[0157] Step 6: The controller and the wireless communication module perform a smart handshake, and the attachment sends the attachment description data to the controller through the wireless communication module.

[0158] Step 7: The controller determines the target control parameters corresponding to the target attachment based on the attachment identification information and attachment parameter information in the attachment description data, and sends the target control parameters to the target attachment through the wireless communication module.

[0159] The eighth step involves the target attachment performing operations according to the target control parameters, and collecting actual operation data using multiple sensors during the operation, which is then transmitted to the controller via a wireless communication module.

[0160] The ninth step is for the controller to save abnormal data or actual operation data. When abnormal data is detected in the actual operation data, the controller dynamically adjusts the target control parameters according to the abnormal data and transmits the adjusted control parameters to the target attachment to perform dynamic feedback control on the operation of the target attachment.

[0161] Figure 7This is a schematic diagram of the controller of a fire rescue robot according to an embodiment of this application, as shown below. Figure 7 As shown, the controller of the fire rescue robot includes: an attachment determination module 71, used to determine the target attachment required for the robot's current operation; an attachment control module 72, used to determine the attachment grasping path of the robotic arm based on the posture information of the target attachment relative to the robotic arm; control the robotic arm to move according to the attachment grasping path and take the target attachment out of the attachment library; and control the target attachment to perform the operation through the wireless communication module in the target attachment.

[0162] The controller of the fire rescue robot provided in this application embodiment can execute the technical solution shown in the above method embodiment. Its implementation principle and beneficial effects are similar, and will not be repeated here.

[0163] Figure 8 This is a schematic diagram of the controller of a fire rescue robot according to another embodiment of this application, as shown below. Figure 8 As shown, the controller of the fire rescue robot includes a processor 801 and a memory 802 communicatively connected to the processor 801; the memory 802 stores computer execution instructions; the processor 801 executes the computer execution instructions stored in the memory 802 to implement the steps of the attachment control method of the fire rescue robot in the above method embodiments.

[0164] In the controller of the aforementioned fire rescue robot, the memory 802 and the processor 801 are electrically connected directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines, such as a bus connection. The memory 802 stores computer execution instructions that implement data access control methods, including at least one software function module that can be stored in the memory 802 in the form of software or firmware. The processor 801 executes various functional applications and data processing by running the software program and module stored in the memory 802.

[0165] The memory 802 may be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory 802 stores programs, which are then executed by the processor 801 upon receiving execution instructions. Furthermore, the software programs and modules within the memory 802 may include an operating system, which may include various software components and / or drivers for managing system tasks (e.g., memory management, storage device control, power management, etc.) and can communicate with various hardware or software components to provide an operating environment for other software components.

[0166] The processor 801 can be an integrated circuit chip with signal processing capabilities. The processor 801 described above can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor.

[0167] One embodiment of this application also provides a fire rescue robot, such as Figure 1 As shown, the fire rescue robot may include: a robotic arm, an attachment library, and such as... Figure 8 The controller shown.

[0168] The attachment library contains multiple attachments, each with a built-in wireless communication module. The wireless communication module communicates with the controller, which in turn is connected to the robotic arm.

[0169] The robotic arm is equipped with a first sensing module, and the robot is equipped with a second sensing module. The first sensing module is used to collect images of attachments in the attachment library, and the second sensing module is used to collect images of the robotic arm. Both the first and second sensing modules are connected to the controller.

[0170] The robotic arm is also equipped with multiple sensors, which are connected to a wireless communication module.

[0171] An embodiment of this application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the steps of the various method embodiments of this application.

[0172] An embodiment of this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the various method embodiments of this application.

[0173] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0174] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0175] It should be understood that the above-described device embodiments are merely illustrative, and the device of this application can also be implemented in other ways. For example, the division of units / modules in the above embodiments is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units, modules, or components may be combined, or integrated into another system, or some features may be ignored or not executed.

[0176] Furthermore, unless otherwise specified, the functional units / modules in the various embodiments of this application can be integrated into one unit / module, or each unit / module can exist physically separately, or two or more units / modules can be integrated together. The integrated units / modules described above can be implemented in hardware or as software program modules.

[0177] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0178] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the appended claims.

[0179] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for controlling the attachments of a fire rescue robot, characterized in that, The robot includes a robotic arm and an attachment library, the attachment library storing multiple attachments, and each attachment having a built-in wireless communication module. The method includes: Determine the target attachments required for the robot's current operation; Based on the posture information of the target attachment relative to the robotic arm, the attachment grasping path of the robotic arm is determined; The robotic arm is controlled to move according to the attachment grasping path to retrieve the target attachment from the attachment library; The target attachment is controlled to perform operations via a wireless communication module within the target attachment.

2. The attachment control method for the fire rescue robot according to claim 1, characterized in that, The step of determining the gripping path of the robotic arm based on the posture information of the target attachment relative to the robotic arm includes: Determine the storage location of the target attachment in the attachment library, and determine the initial gripping position corresponding to the storage location; After controlling the robotic arm to move to the initial grasping position, the target attachment image collected by the first sensing module on the robotic arm is obtained; The three-dimensional pose information of the target attachment relative to the robotic arm is obtained by solving the image of the target attachment; Based on the three-dimensional posture information, the initial gripping position, and the kinematic model, the attachment gripping path of the robotic arm is determined. The attachment gripping path includes a first path from the initial gripping position to the storage position, and a second path from the storage position to the initial gripping position.

3. The attachment control method for the fire rescue robot according to claim 2, characterized in that, The step of controlling the robotic arm to move according to the attachment grasping path and retrieve the target attachment from the attachment library includes: When the robotic arm is controlled to move according to the first path, and the robotic arm moves to the storage position, the quick-change male connector on the robotic arm can engage with the quick-change female connector on the target attachment. After detecting that the quick-change male connector and the quick-change female connector are locked, the force sensor on the robotic arm determines whether the target attachment is successfully connected. If the target attachment is successfully connected, the robotic arm is controlled to move according to the second path to retrieve the target attachment from the attachment library; If the target attachment fails to connect successfully, the robotic arm is controlled to move along the second path for a first preset time, and then the robotic arm is controlled to move along the first path again.

4. The attachment control method for a fire rescue robot according to any one of claims 1 to 3, characterized in that, The step of controlling the target attachment to perform operations via the wireless communication module in the target attachment includes: Receive attachment description data transmitted by the wireless communication module, and determine the target control parameters of the target attachment based on the attachment description data; The target control parameters are transmitted to the target attachment via the wireless communication module, so that the target attachment performs operations according to the target control parameters; During the operation of the target attachment, the actual operation data of the target attachment is acquired in real time through the wireless communication module, and the operation of the target attachment is dynamically controlled based on the actual operation data.

5. The attachment control method for the fire rescue robot according to claim 4, characterized in that, Determining the target control parameters of the target attachment based on the attachment description data includes: Based on the attachment identification information and attachment parameter information in the attachment description data, the target control parameters corresponding to the target attachment are determined; or, Based on the attachment identification information and attachment parameter information in the attachment description data, the initial control parameters corresponding to the target attachment are determined; based on the attachment status information and / or current working environment information in the attachment description data, the initial control parameters are dynamically adjusted to determine the target control parameters corresponding to the target attachment.

6. The attachment control method for a fire rescue robot according to claim 5, characterized in that, The dynamic feedback control of the target attachment's operation based on the actual operation data includes: When abnormal data is detected in the actual operation data, the target control parameters are dynamically adjusted according to the abnormal data, and the adjusted control parameters are transmitted to the target attachment. or, When abnormal data is detected in the actual operation data, the current posture information of the robotic arm is determined by the image data collected by the second perception module on the robot; the abnormal data is then determined to be real based on the current posture information; if the abnormal data is real, the target control parameters are dynamically adjusted based on the abnormal data. The abnormal data refers to the data that occurs when the target attachment malfunctions.

7. The attachment control method for a fire rescue robot according to claim 6, characterized in that, After acquiring the actual operating data of the target attachment in real time via the wireless communication module, the method further includes: Save the abnormal data or the actual operation data; If the actual operation data is not received within the second preset time period, a communication interruption is determined to have occurred. The communication connection with the wireless communication module is maintained, and after the communication is restored, the cached data sent by the wireless communication module is obtained. The cached data is the data that the wireless communication module failed to send. The target attachment stops operating during the communication interruption.

8. A controller for a fire rescue robot, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory is used to store computer-executed instructions; The processor is used to execute computer execution instructions stored in the memory, causing the processor to perform the attachment control method of the fire rescue robot as described in any one of claims 1 to 7.

9. A fire rescue robot, characterized in that, include: A robotic arm, a tool library, and a controller as described in claim 8; The attachment library contains multiple attachments, each attachment having a built-in wireless communication module. The wireless communication module is connected to the controller, which is also connected to the robotic arm. The robotic arm is equipped with a first sensing module, and the robot is equipped with a second sensing module. The first sensing module is used to collect images of attachments in the attachment library, and the second sensing module is used to collect images of the robotic arm. Both the first sensing module and the second sensing module are connected to the controller. The attachment is also equipped with multiple sensors, which are connected to the wireless communication module.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the attachment control method of the fire rescue robot according to any one of claims 1 to 7.

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