阅读说明：本技术 消防机器人的控制方法及其控制装置 (Control method and control device of fire-fighting robot ) 是由 杨占宾 王璐 孙兆君 于琪 于 2020-04-22 设计创作，主要内容包括：本发明提出了一种消防机器人的控制方法,所述消防机器人包括可移动至着火区域附近进行灭火作业的机器人主体和无线连接至所述机器人主体的远程控制器,所述远程控制器具有输入部,所述机器人主体具有热成像相机和水炮；所述控制方法包括：获取操作者通过所述输入部输入的第一指令,所述第一指令为所述操作者从多种灭火模式中选取的一种灭火模式；获取所述热成像相机拍摄的所述着火区域的实时热成像图像；根据所述实时热成像图像和所述第一指令,生成所述着火区域中的一目标灭火位置；控制所述水炮的朝向,以使所述水炮向所述目标灭火位置喷水。(The invention provides a control method of a fire-fighting robot, the fire-fighting robot comprises a robot main body which can move to the vicinity of a fire-catching area for fire-fighting operation and a remote controller which is wirelessly connected to the robot main body, the remote controller is provided with an input part, and the robot main body is provided with a thermal imaging camera and a water cannon; the control method comprises the following steps: acquiring a first instruction input by an operator through the input part, wherein the first instruction is one fire extinguishing mode selected from multiple fire extinguishing modes by the operator; acquiring a real-time thermal imaging image of the ignition area shot by the thermal imaging camera; generating a target fire suppression location in the fire area according to the real-time thermal imaging image and the first instruction; and controlling the orientation of the water cannon so that the water cannon sprays water to the target fire extinguishing position.)

1. A control method (300) of a fire fighting robot comprising a robot main body movable to a vicinity of a fire area for fire extinguishing work and a remote controller wirelessly connected to the robot main body, the remote controller having an input, the robot main body having a thermal imaging camera and a water cannon; the control method (300) comprises:

acquiring a first instruction input by an operator through the input part, wherein the first instruction is a fire extinguishing mode selected by the operator from a plurality of fire extinguishing modes (310);

acquiring a real-time thermal imaging image (320) of the fire area taken by the thermal imaging camera;

generating a target fire suppression location (330) in the fire area based on the real-time thermal imaging image and the first instructions;

controlling the orientation of the water cannon such that the water cannon sprays water (340) toward the target fire suppression location.

2. The control method of claim 1, wherein obtaining a target fire suppression location in the fire area based on the real-time thermal imaging image and the first instruction comprises:

calling an image processing algorithm corresponding to the first instruction;

processing the real-time thermographic image with the image processing algorithm to identify a target region in the real-time thermographic image; and

and converting the target area into a world coordinate system to obtain the target fire extinguishing position.

3. The control method of claim 1, wherein the plurality of fire suppression modes includes at least two of the following fire suppression modes:

a first fire extinguishing mode for preferentially performing fire extinguishing operation on the fire source with the highest temperature in the fire extinguishing area;

a second fire extinguishing mode for preferentially performing fire extinguishing operation on the fire source with the largest area in the fire extinguishing area;

and a third fire extinguishing mode for preferentially performing fire extinguishing operation on the fire source connected in the fire extinguishing area.

4. The control method according to claim 1, characterized by further comprising: after the second instruction input by the operator through the input part is determined, the first instruction input by the operator through the input part is acquired.

5. The control method according to claim 1, characterized by further comprising: sending the real-time thermographic image to the remote controller and displaying the real-time thermographic image at the remote controller.

6. The control method according to claim 5, characterized by further comprising: when no target area is identified in the real-time thermography image, a prompt message is displayed on the remote controller.

7. A control device (400) of a fire fighting robot, the fire fighting robot comprising a robot main body movable to the vicinity of a fire area for fire extinguishing work and a remote controller wirelessly connected to the robot main body, the remote controller having an input, the robot main body having a thermal imaging camera and a water cannon; the control device (400) comprises:

an instruction acquisition unit (410) for determining a first instruction input by an operator through the input unit, wherein the first instruction is one fire extinguishing mode selected from a plurality of fire extinguishing modes by the operator;

an image acquisition unit (420) that acquires a real-time thermal imaging image of the fire area taken by the thermal imaging camera;

the generating unit (430) is used for obtaining a target fire extinguishing position in the fire extinguishing area according to the real-time thermal imaging image and the first instruction;

a control unit (440) that controls the orientation of the water cannon such that the water cannon sprays water toward the target fire suppression location.

8. The control device according to claim 7, wherein the generating unit (430) obtains a target fire suppression location in the fire area according to the real-time thermal imaging image and the first instruction comprises:

calling an image processing algorithm corresponding to the first instruction;

processing the real-time thermographic image with the image processing algorithm to identify a target region in the real-time thermographic image; and

and converting the target area into a world coordinate system to obtain the target fire extinguishing position.

9. The control device of claim 7, wherein the plurality of fire suppression modes includes at least two of the following fire suppression modes:

a first fire extinguishing mode for preferentially performing fire extinguishing operation on the fire source with the highest temperature in the fire extinguishing area;

a second fire extinguishing mode for preferentially performing fire extinguishing operation on the fire source with the largest area in the fire extinguishing area;

and a third fire extinguishing mode for preferentially performing fire extinguishing operation on the fire source connected in the fire extinguishing area.

10. The control device according to claim 7, wherein the instruction confirmation unit (410) acquires the first instruction input by the operator through the input unit after determining the second instruction input by the operator through the input unit.

11. The control device of claim 7, wherein the control device (400) transmits the real-time thermographic image to the remote control and displays the real-time thermographic image at the remote control.

12. The control device of claim 11, wherein the control device (400) displays a prompt message at the remote control when a target region is not identified in the real-time thermographic image.

13. A fire fighting robot, characterized by comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the control method of the fire fighting robot according to any one of claims 1 to 6.

14. A computer-readable storage medium, characterized in that a computer program is stored thereon, which when executed by a processor implements the control method of a fire fighting robot according to any one of claims 1 to 6.

Technical Field

The invention mainly relates to the field of robots, in particular to a control method and a control device of a fire-fighting robot.

Background

The fire fighting robot, which may assist fire fighters in the process of fighting a fire, is usually arranged close to the fire point. The existing fire-fighting robot is usually controlled by an operator to spray water to a fire point manually, however, under the condition of dense smoke, the specific position of a fire source cannot be determined by naked eyes of the operator, so that the fire-fighting efficiency is not high.

Disclosure of Invention

In order to solve the technical problems, the invention provides a control method and a control device of a fire-fighting robot, which are used for automatically determining the specific position of a fire source and improving the fire extinguishing efficiency.

To achieve the above object, the present invention proposes a control method of a fire fighting robot comprising a robot main body movable to the vicinity of a fire area for fire extinguishing work and a remote controller wirelessly connected to the robot main body, the remote controller having an input part, the robot main body having a thermal imaging camera and a water cannon; the control method comprises the following steps: acquiring a first instruction input by an operator through the input part, wherein the first instruction is one fire extinguishing mode selected from multiple fire extinguishing modes by the operator; acquiring a real-time thermal imaging image of the ignition area shot by the thermal imaging camera; generating a target fire suppression location in the fire area according to the real-time thermal imaging image and the first instruction; and controlling the orientation of the water cannon so that the water cannon sprays water to the target fire extinguishing position.

Therefore, the fire-fighting robot control method provided by the invention can obtain the temperature information of the fire area through the thermal imaging image shot by the thermal imaging camera, can automatically identify the fire source, has strong anti-interference performance and improves the fire-fighting efficiency. In addition, the operator selects a fire extinguishing mode from multiple fire extinguishing modes, can select the fire extinguishing mode that corresponds according to current condition of a fire to deal with current condition of a fire fast, prevent the intensity of a fire to spread, further improved fire extinguishing efficiency.

In an embodiment of the invention, obtaining a target fire suppression location in the fire area according to the real-time thermal imaging image and the first instruction comprises: calling an image processing algorithm corresponding to the first instruction; processing the real-time thermographic image with the image processing algorithm to identify a target region in the real-time thermographic image; and converting the target area to a world coordinate system to obtain the target fire extinguishing position.

Therefore, the corresponding image processing algorithm can be called according to the input of the operator, the target area can be quickly identified, and the target position can be obtained, so that the fire can be prevented from spreading, and the fire extinguishing efficiency is further improved.

In an embodiment of the invention, the plurality of fire suppression modes includes at least two of the following fire suppression modes: a first fire extinguishing mode for preferentially performing fire extinguishing operation on the fire source with the highest temperature in the fire extinguishing area; a second fire extinguishing mode for preferentially performing fire extinguishing operation on the fire source with the largest area in the fire extinguishing area; and a third fire extinguishing mode for preferentially performing fire extinguishing operation on the fire source connected in the fire extinguishing area.

Therefore, the operator can preferentially carry out fire extinguishing operation on the fire source with the highest temperature, the fire source with the largest area or the connected fire source according to the fire, operation options of the operator are enriched, and flexibility of coping with the fire is improved.

In an embodiment of the present invention, the control method further includes: after the second instruction input by the operator through the input part is determined, the first instruction input by the operator through the input part is acquired.

Therefore, the operator is allowed to input the first instruction after confirming that the operator inputs the second instruction, so that the error input of the operator can be prevented, and the input accuracy is improved.

In an embodiment of the present invention, the control method further includes: sending the real-time thermographic image to the remote controller and displaying the real-time thermographic image at the remote controller.

For this purpose, the user can learn about the temperature distribution of the fire area by browsing the real-time thermal imaging images displayed on the display to make a corresponding fire-fighting decision.

In an embodiment of the present invention, the control method further includes: when no target area is identified in the real-time thermography image, a prompt message is displayed on the remote controller.

Therefore, by displaying the prompt information on the display, the operator can know that the target area is not recognized, and can perform subsequent operations such as changing the first command and moving the robot.

The invention also provides a control device of the fire-fighting robot, the fire-fighting robot comprises a robot main body which can move to the vicinity of a fire-catching area for fire-fighting operation and a remote controller which is wirelessly connected to the robot main body, the remote controller is provided with an input part, and the robot main body is provided with a thermal imaging camera and a water cannon; the control device includes: the command acquisition unit is used for determining a first command input by an operator through the input part, wherein the first command is one fire extinguishing mode selected from multiple fire extinguishing modes by the operator; an image acquisition unit for acquiring a real-time thermal imaging image of the ignition area photographed by the thermal imaging camera; the generating unit is used for acquiring a target fire extinguishing position in the fire extinguishing area according to the real-time thermal imaging image and the first instruction; and the control unit is used for controlling the orientation of the water cannon so as to enable the water cannon to spray water to the target fire extinguishing position.

In an embodiment of the present invention, the generating unit obtaining a target fire extinguishing location in the fire area according to the real-time thermal imaging image and the first instruction comprises: calling an image processing algorithm corresponding to the first instruction; processing the real-time thermographic image with the image processing algorithm to identify a target region in the real-time thermographic image; and converting the target area to a world coordinate system to obtain the target fire extinguishing position.

In an embodiment of the invention, the plurality of fire suppression modes includes at least two of the following fire suppression modes: a first fire extinguishing mode for preferentially performing fire extinguishing operation on the fire source with the highest temperature in the fire extinguishing area; a second fire extinguishing mode for preferentially performing fire extinguishing operation on the fire source with the largest area in the fire extinguishing area; and a third fire extinguishing mode for preferentially performing fire extinguishing operation on the fire source connected in the fire extinguishing area.

In an embodiment of the present invention, after the instruction confirming unit determines the second instruction input by the operator through the input unit, the first instruction input by the operator through the input unit is acquired.

In one embodiment of the invention, the control device transmits the real-time thermographic image to the remote controller and displays the real-time thermographic image at the remote controller.

In an embodiment of the invention, the control device displays a prompt message on the remote controller when the target area is not identified in the real-time thermal imaging image.

The invention also provides a fire-fighting robot, which comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the control method of the fire-fighting robot when being executed by the processor.

The present invention also proposes a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the control method of the fire fighting robot as described above.

Drawings

The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention. Wherein the content of the first and second substances,

fig. 1 is a schematic perspective view of a robot body according to an embodiment of the present invention

FIG. 2 is a functional block diagram of a fire fighting robot according to an embodiment of the present invention;

fig. 3 is a flowchart of a control method of a fire fighting robot according to an embodiment of the present invention;

fig. 4 is a block diagram of a control apparatus of a fire fighting robot according to an embodiment of the present invention.

Description of the reference numerals

100 robot body

101 supporting platform

102 moving part

103 first support

104 water cannon

105 second support

106 thermal imaging camera

107 processor

108 transceiver

109 water cannon controller

200 remote controller

201 input unit

202 display

300 robot control method

310-340 step

Control device of 400 robots

410 instruction fetch Unit

420 image acquisition unit

430 generation unit

440 control unit

Detailed Description

In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments disclosed below.

As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.

Fig. 1 is a schematic perspective view of a robot main body 100 according to an embodiment of the present invention. The robot main body 100 can move to the vicinity of the fire area to perform fire extinguishing work. As shown in fig. 1, the robot main body 100 includes a support platform 101, a moving part 102, a first support 103, a water cannon 104, a second support 105, and a thermal imaging camera 106.

The support platform 101 is used to provide support for part of the structure of the robot body 100, such as a water cannon 104 and a thermal imaging camera 105. The moving unit 102 is used to move the robot main body 100, and the moving unit 102 may be a crawler belt driven by a driving motor as shown in fig. 1 or may be a moving wheel driven by a driving motor. The water cannon 104 is arranged on the supporting platform 101 through the first support 103, and the first support 103 can move under the control of a water cannon controller (not shown), so that the orientation of the water cannon 104 is adjusted, and the water cannon sprays water to different ignition points. The thermal imaging camera 106 is disposed on the supporting platform 101 through the second bracket 105, and the thermal imaging camera 106 can capture a thermal imaging image.

Fig. 2 is a functional block diagram of a fire fighting robot according to an embodiment of the present invention. The robot includes a robot main body 100 and a remote controller 200, and an operator can operate the remote controller 200 to control the robot main body 100 to move to the vicinity of a fire area for fire extinguishing work. In an embodiment of the present invention, the remote controller 200 has a distance from the robot main body 100, and communication may be performed through a wireless connection, which may be a bluetooth connection, an infrared connection, a near field communication connection, or the like, and the distance may allow the robot main body 100 to be within a visual field of the remote controller 200. The robot main body 100 may have a three-dimensional structure as shown in fig. 1.

As shown in fig. 2, the robot main body 100 also has a processor 107, a transceiver 108, and a water cannon controller 109. The processor 107 may be a single-core processor, a multi-core processor, or a processor group composed of a plurality of processors, and the plurality of processors are connected to each other by a bus. The processor 107 may also include a graphics processor to process images and video. The transceiver 108 is used to transmit image data to the remote controller 200 and receive instructions from the remote controller 200. The monitor controller 109 is configured to control the orientation of the monitor according to the output signal of the processor 107, so that the monitor sprays water to different ignition points.

The remote controller 200 has an input unit 201, and an operator can input an instruction through the input unit 201. The input unit 201 may be a physical key or a virtual key that receives an operation of the operator, or may be a microphone that receives a voice of the operator. Optionally, the remote controller 200 may also have a display 202 for displaying the received image data. The display 202 may be a liquid crystal display, a light emitting diode display, an organic light emitting diode display, or the like.

Fig. 3 is a flowchart of a control method 300 of a fire fighting robot according to an embodiment of the present invention. The control method 300 may control a robot as shown in fig. 1 and 2. As shown in fig. 3, a control method 300 of the fire fighting robot of this embodiment includes:

in step 310, a first command input by an operator via an input unit is obtained.

The operator can input a first command through the input section 201 of the remote controller 200, and the first command is acquired by wireless connection. The input part 201 may be a physical key, a virtual key, or a microphone, and accordingly the operator may input the first instruction by pressing the physical key, touching the virtual key, and uttering voice.

The first command is an operator selected one of a plurality of fire suppression modes. The plurality of fire suppression modes includes at least two of a first fire suppression mode, a second fire suppression mode, and a third fire suppression mode. The operator can select a corresponding fire extinguishing mode according to the current fire condition from a fire extinguishing mode selected from multiple fire extinguishing modes so as to quickly deal with the current fire condition, prevent the fire from further spreading and improve the fire extinguishing efficiency.

In the first fire extinguishing mode, the fire source with the highest temperature in the fire area is preferentially subjected to fire extinguishing operation so as to prevent the fire caused by the fire source with the highest temperature from spreading. In the second fire extinguishing mode, the fire extinguishing operation is preferentially performed on the fire source with the largest area in the fire area, so that the fire spread caused by the fire source with the largest area in the fire area is prevented. In the third fire extinguishing mode, fire extinguishing work is preferentially performed on fire sources connected in the fire area so as to block fire spread caused by connection of the fire sources.

It is to be understood that the plurality of fire extinguishing modes are not limited to the combination of the first fire extinguishing mode, the second fire extinguishing mode and the third fire extinguishing mode, and may be fire extinguishing modes preset by an operator. In an embodiment of the present invention, one fire extinguishing mode selected by an operator from a plurality of fire extinguishing modes is referred to as a fire source identification mode.

In an alternative case, after the second instruction input by the operator through the input portion is determined, the first instruction input by the operator through the input portion is acquired. The robot may have a variety of functional modes, such as a fire source recognition mode, a navigation mode, and the like. The operator inputs the second instruction through the input part to enter the fire source identification mode, and after the fire source identification mode is entered, the operator can input the first instruction through the input part, namely, only in the fire source identification mode, the operator can input the first instruction through the input part.

In step 320, a real-time thermal image of the fire area captured by the thermal imaging camera is obtained.

And shooting the fire area in real time by the thermal imaging camera to obtain a real-time thermal imaging image of the fire area, and acquiring the real-time thermal imaging image. The thermal imaging image comprises temperature information of a shot object, namely the temperature of the pixel with the darker color in the thermal imaging image is higher, and conversely, the temperature of the pixel with the lighter color is lower.

Acquiring the real-time thermal imaging image of the fire area taken by the thermal imaging camera may further include image processing the real-time thermal imaging image. Illustratively, the image processing of the real-time thermographic image may be noise reduction, enhancement, sharpening, or the like.

In an alternative case, after acquiring the real-time thermographic image, the real-time thermographic image may also be transmitted to the remote controller 200 and displayed on the display 202 of the remote controller 200. The user may learn the temperature distribution of the fire area by viewing the real-time thermal imaging images displayed on the display 202 to make corresponding fire-fighting decisions.

Step 330, generating a target fire suppression location in the fire area according to the real-time thermal imaging image and the first instruction.

In this step, a target fire suppression location in the fire area is generated based on the real-time thermographic image of step 320 and the first instructions of step 310. Illustratively, obtaining a target fire suppression location in the fire area based on the real-time thermal imaging image and the first instructions may comprise: and calling an image processing algorithm corresponding to the first instruction, processing the real-time thermal imaging image by using the image processing algorithm so as to identify a target area in the real-time thermal imaging image, and converting the target area into a world coordinate system to obtain a target fire extinguishing position.

Specifically, an image processing algorithm corresponding to the first instruction may be called from the memory. When the first instruction is used for selecting the first fire extinguishing mode, a first image processing algorithm is called, the first image processing algorithm can identify each fire source, determine the fire source with the highest temperature, then preferentially conduct fire extinguishing operation on the fire source with the highest temperature in the fire area, and can prevent fire spreading caused by the fire source with the highest temperature.

And when the first instruction is to select the second fire extinguishing mode, calling a second image processing algorithm, wherein the second image processing algorithm can identify each fire source, calculate the area of each fire source, determine the fire source with the largest area, and then preferentially perform fire extinguishing operation on the fire source with the largest area in the fire area so as to prevent the fire spread caused by the fire source with the largest area in the fire area.

And when the first instruction is to select a third fire extinguishing mode, calling a third image processing algorithm, wherein the third image processing algorithm can identify each fire source, determine the connected fire sources, and preferentially perform fire extinguishing operation on the connected fire sources in the fire area so as to block fire spread caused by connection of the fire sources.

And after the target area is identified in the real-time thermal imaging image, converting the target area into a world coordinate system to obtain a target fire extinguishing position. Specifically, a target area is identified in the real-time thermal imaging image, pixel coordinates of the target area in the real-time thermal imaging image can be obtained, the target area is converted into a world coordinate system according to internal parameters and external parameters of the thermal imaging camera, and a target fire extinguishing position in the world coordinate system is obtained. The thermal imaging camera may be calibrated to obtain internal and external parameters of the thermal imaging camera.

In an alternative case, a prompt is displayed on the display 202 of the remote controller 200 when no target area is identified in the real-time thermographic image. By displaying the prompt information on the display 202, the operator knows that the target area is not recognized, and can perform subsequent operations such as changing the first instruction, moving the robot, and the like.

And 340, controlling the orientation of the water cannon so that the water cannon sprays water to the target fire extinguishing position.

The target fire suppression location is determined by step 330, in which the water cannon is controlled to spray water toward the target fire suppression location. Specifically, the water cannon controller 109 of the robot main body 100 receives the input world coordinate of the target fire-extinguishing position, and controls the water cannon to spray water toward the target fire-extinguishing position according to the world coordinate of the target fire-extinguishing position.

The embodiment of the invention provides a control method of a robot, which can obtain the temperature information of a fire area through a thermal imaging image shot by a thermal imaging camera, can automatically identify a fire source, has strong anti-interference performance and improves the fire extinguishing efficiency. In addition, the operator selects a fire extinguishing mode from multiple fire extinguishing modes, can select the fire extinguishing mode that corresponds according to current condition of a fire to deal with current condition of a fire fast, prevent the intensity of a fire to spread, further improved fire extinguishing efficiency.

Flow charts are used herein to illustrate operations performed by methods according to embodiments of the present application. It should be understood that the preceding operations are not necessarily performed in the exact order in which they are performed. Rather, various steps may be processed in reverse order or simultaneously. Meanwhile, other operations are added to or removed from these processes. For example, step 310 may be performed after step 320 is performed.

Fig. 4 is a block diagram of a control apparatus 400 of a fire fighting robot according to an embodiment of the present invention. The control device 400 may control the fire fighting robot as shown in fig. 1 and 2.

As shown in fig. 4, the control device 400 in this embodiment includes: the instruction acquisition unit 410 determines a first instruction input by the operator through the input portion, the first instruction being one of the plurality of fire extinguishing modes selected by the operator. The image acquisition unit 420 acquires a real-time thermal imaging image of the fire area photographed by the thermal imaging camera. The generating unit 430 obtains a target fire extinguishing position in the fire area according to the real-time thermal imaging image and the first instruction. And the control unit 440 controls the orientation of the water cannon so that the water cannon sprays water to the target fire extinguishing position.

In an alternative case, the obtaining of a target fire extinguishing location in the fire area by the generating unit 430 according to the real-time thermal imaging image and the first instruction comprises: calling an image processing algorithm corresponding to the first instruction; processing the real-time thermographic image with an image processing algorithm to identify a target region in the real-time thermographic image; and converting the target area into a world coordinate system to obtain a target fire extinguishing position.

In an alternative aspect, the plurality of fire suppression modes includes at least two of the following fire suppression modes: a first fire extinguishing mode for preferentially extinguishing a fire source with the highest temperature in a fire area; the second fire extinguishing mode is used for preferentially carrying out fire extinguishing operation on the fire source with the largest area in the fire area; and a third fire extinguishing mode for preferentially extinguishing fire from a fire source connected to the fire area.

In an alternative case, after the instruction confirmation unit 410 determines the second instruction input by the operator through the input portion, the first instruction input by the operator through the input portion is acquired.

In an alternative case, the control device 400 transmits the real-time thermographic image to a remote controller and displays the real-time thermographic image at the remote controller.

In an alternative case, the control device 400 displays a prompt message on the remote controller when the target area is not identified in the real-time thermographic image.

The implementation and specific processes of the control apparatus 400 can refer to the control method 300, and are not described herein again.

The invention also provides a fire-fighting robot, which comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the control method of the fire-fighting robot is realized.

The present invention also proposes a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the control method of the fire fighting robot as described above.

Aspects of the methods and apparatus of the present invention may be performed entirely by hardware, entirely by software (including firmware, resident software, micro-code, etc.), or by a combination of hardware and software. The above hardware or software may be referred to as "data block," module, "" engine, "" unit, "" component, "or" system. The processor may be one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), digital signal processing devices (DAPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or a combination thereof. Furthermore, aspects of the present invention may be represented as a computer product, including computer readable program code, embodied in one or more computer readable media. For example, computer-readable media can include but are not limited to magnetic storage devices (e.g., hard disk, floppy disk, magnetic strips … …), optical disks (e.g., Compact Disk (CD), Digital Versatile Disk (DVD) … …), smart cards, and flash memory devices (e.g., card, stick, key drive … …).

The computer readable medium may comprise a propagated data signal with the computer program code embodied therein, for example, on a baseband or as part of a carrier wave. The propagated signal may take any of a variety of forms, including electromagnetic, optical, and the like, or any suitable combination. The computer readable medium can be any computer readable medium that can communicate, propagate, or transport the program for use by or in connection with an instruction execution system, apparatus, or device. Program code on a computer readable medium may be propagated over any suitable medium, including radio, electrical cable, fiber optic cable, radio frequency signals, or the like, or any combination of the preceding.

It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as suitable to form other embodiments, as will be appreciated by those skilled in the art.

The above description is only an exemplary embodiment of the present invention, and is not intended to limit the scope of the present invention. Any equivalent alterations, modifications and combinations can be made by those skilled in the art without departing from the spirit and principles of the invention.