Intelligent fire-fighting robot control method based on three-dimensional point cloud model

Abstract

The invention discloses an intelligent fire-fighting robot control method based on a three-dimensional point cloud model. The intelligent fire-fighting robot control method comprises the following steps that a mapping relation between a robot coordinate system and the three-dimensional point cloud model is built, the coordinates of an abnormal temperature rise point are extracted from a picture captured by an infrared camera, the expected pose of the tail end of a robot is determined, a tail end expected homogeneous transformation matrix is built, then a Pieper method is used for solving the joint angles of all shafts of the robot, a nearest solution is selected as an optimal solution, the robot is controlled to move to an expected position, a high-pressure water mist spray gun valve is opened for cooling until the temperature is reduced to be below an alarm threshold value, cooling is ended, and the robot is reset. According to the method, the rotation translation matrix and three-axis intersecting Pieper method is used, by means of the on-site three-dimensional point cloud model, accurate positioning of the six-axis fire-fighting robot on an abnormal temperature rise point of a fire scene can be achieved, and threats and losses brought to personal safety of workers and a power system due to abnormal temperature rise of a transformer or even fire explosion can be avoided.

Description

technical field [0001] The invention relates to the field of substation fire protection, in particular to an intelligent fire-fighting robot control method based on a three-dimensional point cloud model. Background technique [0002] At present, the existing transformer water medium fire protection system mostly adopts low-voltage frame-type water sprinkler fire extinguishing system, and most of them use fixed nozzles, which are complicated to install, occupy a large area, have a large number of nozzles, heavy operation and maintenance workload, and poor synergistic effect. The water effect is not good, and the fire-fighting effect is not ideal; and each fire-fighting subsystem is an independent fire-fighting system, which has problems such as low degree of centralized management, no local comprehensive early warning and remote interactive functions, poor linkage timeliness, and information system does not have intelligent analysis capabilities. , does not meet the requireme...

AI Technical Summary

Problems solved by technology

[0003] The inverse solution of robot kinematics with six degrees of freedom is very complicated, and generally there is no closed solution

On the basis of applying the D-H method to establish the kinematic equations, after some analytical calculations, it is found that there are often many position inverse solutions, and an effective closed solution cannot be obtained

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