CN115741684A

CN115741684A - Control method and system for fire extinguishing robot in petroleum exploration area and electronic equipment

Info

Publication number: CN115741684A
Application number: CN202211413999.3A
Authority: CN
Inventors: 谭青; 郝建云; 李博论; 许志强; 赵容; 仲磊; 马淩芝; 卢德兰
Original assignee: QINGDAO JARI AUTOMATION CO Ltd
Current assignee: QINGDAO JARI AUTOMATION CO Ltd
Priority date: 2022-11-11
Filing date: 2022-11-11
Publication date: 2023-03-07
Anticipated expiration: 2042-11-11
Also published as: CN115741684B

Abstract

The invention discloses a control method and a system for a fire-extinguishing robot in an oil exploration area and electronic equipment, wherein an infrared thermal imager arranged on a robot is used for collecting a current frame image of a target area, the current frame image is processed and identified, whether a target image defined as a high-temperature point exists in the current frame image or not is judged, if the target image defined as the high-temperature point exists in the current frame image, the robot moves towards the direction of a target and obtains current environment temperature data by using a temperature sensor arranged on the robot, and if the current environment temperature data is greater than or equal to a first preset threshold value, the angle of a fire-extinguishing agent nozzle of a fire-extinguishing device arranged on the robot is adjusted, and the fire-extinguishing device is started. The problem that when a fire occurs in an exploration area, timely monitoring is not easy to perform, the difficulty of manual fire extinguishment is high, and serious resource waste is easily caused is solved, the application scene of the fire extinguishing device is greatly expanded, a large amount of manpower and material resource cost is saved, and resources are saved to a great extent.

Description

Control method and system for fire-extinguishing robot in petroleum exploration area and electronic equipment

Technical Field

The invention relates to the technical field of robot control, in particular to a method and a system for controlling a fire-extinguishing robot in a petroleum exploration area and electronic equipment.

Background

The national development can not drive energy sources, and the petroleum-related industry still has great market space. The petroleum industry plays an irreplaceable role as a great driving force for the economic growth of China. Meanwhile, the economic overall scale of China is large, the possession quantity and the technical level of the robot are extremely low, and the quantity of the demands of various industries on the robot is considerable with the coming of the artificial intelligence era. At present, research on the petroleum robot is limited to drill rod connection, jacket installation, underwater valve opening and closing, well drilling and the like, and the research content in the field of petroleum exploration and development is deficient. Meanwhile, the robot is high in danger, complex in terrain and high in accident occurrence probability in the petroleum geological industry, when a fire occurs in an exploration area, timely monitoring is not easy to carry out, the difficulty of manual fire extinguishment is high, and serious resource waste is very easy to cause, so that the robot capable of autonomously completing patrol, monitoring the fire and autonomously completing a fire extinguishing task when the fire occurs is urgently needed.

Therefore, the prior art has yet to be developed.

Disclosure of Invention

The invention aims to overcome the technical defects and provides a robot control method and system and electronic equipment applied to patrol in a petroleum exploration area so as to solve the problems in the prior art.

To achieve the above technical object, according to a first aspect of the present invention, there is provided a method for controlling a fire-fighting robot in a petroleum exploration area, comprising:

when the robot moves according to a preset patrol path and a first preset speed, acquiring a current frame image of a target area by using an infrared thermal imager arranged on the robot;

processing and identifying the current frame image, and judging whether a target image defined as a high-temperature point exists in the current frame image;

if the current frame image has a target image defined as a high-temperature point, the robot moves towards the direction of the target and obtains current environment temperature data by using a temperature sensor arranged on the robot, and if the current environment temperature data is greater than or equal to a first preset threshold value, the angle of a fire extinguishing agent nozzle of a fire extinguishing device arranged on the robot is adjusted, and the fire extinguishing device is started.

Specifically, the moving of the robot to the direction of the target and the obtaining of the current environmental temperature data by using the temperature sensor disposed on the robot further include:

when the robot moves towards the direction of the target, judging whether the current environment temperature data is larger than or equal to a second preset threshold value or not, if the current environment temperature data is larger than or equal to the second preset threshold value, outputting an alarm signal, and continuing to move towards the direction of the target until the environment temperature data is larger than or equal to a first preset threshold value, wherein the second preset threshold value is smaller than the first preset threshold value.

Specifically, the method further comprises:

when the robot moves towards the direction of the target, whether the current environment temperature data is larger than or equal to a second preset threshold value or not is judged, and meanwhile, whether the distance between the current robot and the target is smaller than or equal to a third preset threshold value or not is judged, if the distance between the current robot and the target is smaller than the third preset threshold value and the current environment temperature data is smaller than the second preset threshold value, the robot moves according to a preset patrol path and a first preset speed, and an infrared thermal imager arranged on the robot is used for collecting a current frame image of the target area.

Specifically, the determining whether the target image defined as the high temperature point exists in the current frame image includes:

if pixel points with the gray values larger than or equal to a fourth preset threshold value exist in the current frame infrared thermal imaging image data, the pixel points are determined as target points, a target range is determined according to the target points, the target range needs to include all the target points in the current frame infrared thermal imaging image data, a target search frame is established according to the target range, the robot approaches a target indicated by the target search frame and measures the real-time distance between the robot and the target in real time, when the distance between the robot and the target is smaller than or equal to the third preset threshold value, whether the area of the target search frame is larger than or equal to a fifth preset threshold value or not is judged, whether the total gray value of each target point is larger than or equal to a sixth preset threshold value or not is judged, and if the area of the target search frame is larger than or equal to the fifth preset threshold value or the total gray value of each target point is larger than or equal to the sixth preset threshold value, a target image defined as a high-temperature point exists in the current frame infrared thermal imaging image.

Specifically, the adjusting of the angle of the fire extinguishing agent nozzle of the fire extinguishing apparatus provided on the robot includes:

will the centre of a circle of the circular spout of extinguishing agent spout of extinguishing device sets up under the centre of a circle of the circular lens piece of the camera of thermal imaging sensor appearance, and set up the upwards skew of extinguishing agent spout, make it reach the lower half that can cover the thermal imaging image when the fire extinguishing agent of extinguishing agent spout spun presents in the thermal imaging image of thermal imaging sensor collection, and with extinguishing agent spout and thermal imaging appearance fixed connection, make extinguishing agent spout and thermal imaging appearance can synchronous motion, adjust the thermal imaging appearance, make the base of target search frame be located apart from the first distance department of predetermineeing in thermal imaging image base top, first predetermined distance is less than the half height of thermal imaging image.

Specifically, the method further comprises:

the target search frame needs to include a target range and a background of a preset range around the target, mass points of the target are calculated, the search frame is established by taking the boundary of the target, and the search frame is expanded to be a preset multiple of the search frame established by taking the center of mass of the target as a base point.

Specifically, the fire extinguishing device further comprises:

after the fire extinguishing device is started, the current environment temperature is judged in real time, if the current environment temperature is smaller than a seventh preset threshold value, the robot is controlled to continue to move towards the direction close to the target until the current environment temperature data is smaller than a second preset threshold value and the distance between the current robot and the target is smaller than a third preset threshold value, the fire extinguishing device is closed, and the robot moves according to a preset patrol path and a first preset speed and acquires the current frame image of the target area by using an infrared thermal imager arranged on the robot.

Specifically, the method further comprises:

if the current frame image has the target image defined as the high-temperature point, the robot moves towards the direction of the target according to the preset patrol path and the second preset speed.

According to a second aspect of the present invention, there is provided a petroleum exploration area fire fighting robot control system comprising:

the infrared thermal imager is used for acquiring a current frame infrared thermal imaging image of the target area;

the operation control module is used for acquiring the current frame infrared thermal imaging image, processing and identifying the current frame infrared thermal imaging image and judging whether a target image defined as a high-temperature point exists in the current frame infrared thermal imaging image or not;

or when a target image defined as a high-temperature point exists, controlling the robot to move towards the direction of the target and obtaining current environment temperature data by using a temperature sensor arranged on the robot; or the data of the current environment temperature is greater than or equal to a first preset threshold value, the angle of a fire extinguishing agent nozzle of a fire extinguishing device arranged on the robot is adjusted, and the fire extinguishing device is started;

the fire extinguishing device is used for spraying fire extinguishing agent and comprises a fire extinguishing agent nozzle;

and the alarm module is used for outputting an alarm signal.

According to a third aspect of the present invention, there is provided an electronic apparatus comprising: a memory; and a processor having stored thereon computer readable instructions which, when executed by the processor, implement the method of controlling a petroleum exploration area fire fighting robot according to any one of claims 1 to 8.

Has the advantages that:

1. the invention creatively utilizes an infrared thermal imager arranged on a robot to collect a current frame image of a target area, processes and identifies the current frame image, judges whether a target image defined as a high-temperature point exists in the current frame image, if the target image defined as the high-temperature point exists in the current frame image, the robot moves towards the direction of the target and obtains current environment temperature data by utilizing a temperature sensor arranged on the robot, and if the current environment temperature data is greater than or equal to a first preset threshold value, the angle of a fire extinguishing agent nozzle of a fire extinguishing device arranged on the robot is adjusted, and the fire extinguishing device is started. The problem that when a fire occurs in an exploration area, timely monitoring is not easy to perform, the difficulty of manual fire extinguishment is high, and serious resource waste is easily caused is solved, the application scene of the invention is greatly expanded, a large amount of manpower and material resource cost is saved, resources are saved to a great extent, and the development of the robot in the field of oil exploration is promoted.

2. In the technical scheme of the invention, when the robot moves towards the direction of the target, whether the current environment temperature data is greater than or equal to a second preset threshold value or not is judged, if the current environment temperature data is greater than or equal to the second preset threshold value, an alarm signal is output, the robot continues to move towards the direction of the target until the environment temperature data is greater than or equal to the first preset threshold value, the second preset threshold value is less than the first preset threshold value, because the current environment temperature data has a linear relation with the distance from the flame when a fire occurs, and the closer the current environment temperature data is to the flame, the higher the temperature is, the invention controls the robot to approach the target indicated by the target search box and measures the real-time distance from the robot to the target and the current environment temperature data in real time, if the current environment temperature data is more than or equal to a second preset threshold value, the fire occurrence at the moment is judged, because the serious conditions of the fire are different, when the fire is serious and is far away from the fire area, the environmental temperature is also high, therefore, when the distance between the robots is not less than the third preset threshold value, the fire is judged to happen as long as the current environment temperature data is greater than or equal to the second preset threshold value, the robots output alarm signals to related workers and continue to move towards the targets indicated by the target search boxes, the invention carries out fire extinguishing at the position which is more efficient and reasonable in fire extinguishing and closer to the fire, simplifies extremely complex problems through ingenious design, does not need complex algorithm modeling, greatly improves the usability and the reliability of analysis results of the invention, the reliability of the analysis result is ensured, the system result is simplified to a great extent, the implementation difficulty of the method is greatly reduced, and the application scene of the method is further expanded.

3. According to the technical scheme, if a target image defined as a high-temperature point exists in a current frame image, the robot moves towards the direction of the target and obtains current environment temperature data by using a temperature sensor arranged on the robot, and if the current environment temperature data is larger than or equal to a first preset threshold value, the angle of a fire extinguishing agent nozzle of a fire extinguishing device arranged on the robot is adjusted, and the fire extinguishing device is started. The invention prevents the robot from moving to a position too close to the fire by presetting the first preset threshold value to cause the damage of parts caused by the overhigh temperature of the robot, and simultaneously moves the robot to a position close enough to the fire and safe enough by the first preset threshold value with reasonable design so as to maximize the fire extinguishing efficiency and reduce the risk of further spreading the fire, thereby further improving the safety, reliability and usability of the invention.

4. According to the technical scheme, the circle center of a circular nozzle of a fire extinguishing agent nozzle of the fire extinguishing device is arranged right below the circle center of a circular lens sheet of a camera of a thermal imaging sensor, the fire extinguishing agent nozzle is arranged in an upward offset mode, so that the fire extinguishing agent sprayed by the fire extinguishing agent nozzle can cover the lower half part of a thermal imaging image when the fire extinguishing agent is displayed in the thermal imaging image collected by the thermal imaging sensor, the fire extinguishing agent nozzle and the thermal imaging instrument are fixedly connected, the fire extinguishing agent nozzle and the thermal imaging instrument can move synchronously, the thermal imaging instrument is adjusted, the bottom edge of a target searching frame is located at a first preset distance above the bottom edge of the thermal imaging image, the first preset distance is smaller than half height of the thermal imaging image, the fire extinguishing agent can cover the lower half area of the thermal imaging image when sprayed, the target searching frame is arranged at the first preset distance above the bottom edge of the thermal imaging image, the first preset distance is smaller than half height of the thermal imaging image, the fire extinguishing agent can cover the root of a fire extinguishing agent when sprayed, the fire extinguishing agent is further, the intelligent fire extinguishing agent nozzle is improved, the intelligent application efficiency is greatly improved, and the application efficiency of the system is greatly improved.

5. After the fire extinguishing device is started, the current environment temperature is judged in real time, if the current environment temperature is smaller than a seventh preset threshold value, the robot is controlled to continue to move towards the direction close to the target until the current environment temperature data is smaller than a second preset threshold value and the distance between the current robot and the target is smaller than a third preset threshold value, the fire extinguishing device is closed, the robot moves according to a preset patrol path and a first preset speed, and an infrared thermal imager arranged on the robot is used for collecting the current frame image of the target area. When the fire extinguishing agent takes effect and the flame begins to disappear, if a high-temperature point still exists in the image of the thermal imager and the fire still exists, the temperature around the robot begins to drop and drops to a seventh preset threshold value, the fact that the fire extinguishing efficiency of the robot possibly begins to drop at the current position is proved, the robot is controlled to continue to move towards the direction indicated by the target search box, other flames of the fire can be timely tracked and extinguished, the fire can be better controlled and extinguished, the intelligent degree, the fire extinguishing efficiency, the reliability and the usability of the fire extinguishing robot are greatly improved, the extremely complex problems are further simplified through ingenious design, complex algorithm modeling is not needed, the application scene of the fire extinguishing robot is further expanded, and the usability of the fire extinguishing robot is greatly improved.

Drawings

FIG. 1 is a flow chart of a method of controlling a fire-fighting robot in an oil exploration area provided in an embodiment of the present invention;

FIG. 2 is a schematic diagram of a method of controlling a fire fighting robot in an oil exploration area provided in an embodiment of the present invention;

fig. 3 is a schematic block diagram of a control system of a fire-fighting robot for an oil exploration area provided in an embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the following description of the technical solutions of the present invention with reference to the accompanying drawings of the present invention is made clearly and completely, and other similar embodiments obtained by a person of ordinary skill in the art without any creative effort based on the embodiments in the present application shall fall within the protection scope of the present application. In addition, directional terms such as "upper", "lower", "left", "right", etc. in the following embodiments are directions with reference to the drawings only, and thus, the directional terms are used for illustrating the present invention and not for limiting the present invention.

The invention is further described below with reference to the drawings and the preferred embodiments.

Referring to fig. 1, the present invention provides a method for controlling a fire extinguishing robot in a petroleum exploration area, comprising:

s100, when the robot moves according to a preset patrol path and a first preset speed, acquiring a current frame image of a target area by using an infrared thermal imager arranged on the robot.

It should be noted here that the present invention specifically sets an infrared thermal imager on the robot, which is used for acquiring a current frame infrared thermal imaging image of the target area, that is, acquiring an image of the target area about temperature change.

S100 includes setting a first preset speed, a second preset speed, a first preset threshold, a second preset threshold, a third preset threshold, a fourth preset threshold, a fifth preset threshold, a sixth preset threshold, and a seventh preset threshold, and making the second preset speed greater than the first preset speed, making the first preset threshold greater than the second preset threshold, preferably, the first preset threshold is 120 degrees celsius, the second preset threshold is 80 degrees celsius, the third preset threshold is 1 meter, and preferably, the robot moves according to the first preset speed or the second preset speed as being achieved by adjusting a duty ratio of a motor of the robot.

It should be noted that the present invention initiatively utilizes an infrared thermal imager disposed on the robot to collect a current frame image of a target area, processes and identifies the current frame image, determines whether a target image defined as a high temperature point exists in the current frame image, if the target image defined as the high temperature point exists in the current frame image, the robot moves in the direction of the target and utilizes a temperature sensor disposed on the robot to obtain current environmental temperature data, and if the current environmental temperature data is greater than or equal to a first preset threshold, the angle of a fire extinguishing agent nozzle of a fire extinguishing apparatus disposed on the robot is adjusted, and the fire extinguishing apparatus is started. The problem that when a fire occurs in an exploration area, timely monitoring is not easy to perform, the difficulty of manual fire extinguishment is high, and serious resource waste is easily caused is solved, the application scene of the invention is greatly expanded, a large amount of manpower and material resource cost is saved, resources are saved to a great extent, and the development of the robot in the field of oil exploration is promoted.

S200, processing and identifying the current frame image, and judging whether a target image defined as a high-temperature point exists in the current frame image.

It should be noted that, if a pixel point whose gray value is greater than or equal to a fourth preset threshold exists in the current frame of infrared thermal imaging image data, the pixel point is determined as a target point, a target range is determined according to the target point, the target range needs to include all target points in the current frame of infrared thermal imaging image data, a target search box is established according to the target range, the robot approaches a target indicated by the target search box and measures a real-time distance from the target in real time, when the distance from the robot to the target is less than or equal to the third preset threshold, it is determined whether the area of the target search box is greater than or equal to a fifth preset threshold and it is determined whether a total gray value of each target point is greater than or equal to a sixth preset threshold, and if the area of the target search box is greater than or equal to the fifth preset threshold or the total gray value of each target point is greater than or equal to the sixth preset threshold, it is determined that a target image defined as a high-temperature point exists in the current frame of infrared thermal imaging image. The target search frame needs to include a target range and a background of a preset range around the target, mass points of the target are calculated, the search frame is established by taking the boundary of the target as a base point, the search frame is expanded to be a preset multiple of the search frame established by taking the center of mass of the target as a base point, and therefore the target search frame can completely include the fire occurrence area.

S300, if a target image defined as a high-temperature point exists in the current frame image, the robot moves towards the direction of the target and obtains current environment temperature data by using a temperature sensor arranged on the robot, and if the current environment temperature data is larger than or equal to a first preset threshold value, the angle of a fire extinguishing agent nozzle of a fire extinguishing device arranged on the robot is adjusted, and the fire extinguishing device is started.

Specifically, after the fire extinguishing device is started, the current environment temperature is judged in real time, if the current environment temperature is smaller than a seventh preset threshold value, the robot is controlled to continue to move towards the direction close to the target until the current environment temperature data is smaller than a second preset threshold value and the distance between the current robot and the target is smaller than a third preset threshold value, the fire extinguishing device is closed, and the robot moves according to a preset patrol path and a first preset speed and acquires the current frame image of the target area by using an infrared thermal imager arranged on the robot.

Specifically, if a target image defined as a high-temperature point exists in the current frame image, the robot moves to the direction of the target according to a preset patrol path and a second preset speed.

Specifically, the adjusting of the angle of the fire extinguishing agent nozzle of the fire extinguishing apparatus provided on the robot includes: will the centre of a circle of the circular spout of extinguishing agent spout of extinguishing device sets up under the centre of a circle of the circular lens piece of the camera of thermal imaging sensor appearance, and set up the upwards skew of extinguishing agent spout, make it reach the lower half that can cover the thermal imaging image when the fire extinguishing agent of extinguishing agent spout spun presents in the thermal imaging image of thermal imaging sensor collection, and with extinguishing agent spout and thermal imaging appearance fixed connection, make extinguishing agent spout and thermal imaging appearance can synchronous motion, adjust the thermal imaging appearance, make the base of target search frame be located apart from the first distance department of predetermineeing in thermal imaging image base top, first predetermined distance is less than the half height of thermal imaging image.

It should be noted that, in the technical solution of the present invention, when the robot moves towards the direction of the target, it is determined whether the current environmental temperature data is greater than or equal to the second preset threshold, if the current environmental temperature data is greater than or equal to the second preset threshold, an alarm signal is output, the robot continues to move towards the direction of the target until the environmental temperature data is greater than or equal to the first preset threshold, which is less than the first preset threshold, because the current environmental temperature data has a linear relationship with the distance from the flame when a fire occurs, the temperature is higher the closer the robot is to the flame, the present invention determines that a fire occurs at this time by controlling the robot to approach the target indicated by the target search box and measuring the real-time distance from the robot to the target and the current environmental temperature data in real time, if the current environmental temperature data is greater than or equal to the second preset threshold, because the severity of the fire is different, when the fire is more distant from the fire area when the fire is more severe, the environmental temperature is higher, the present invention performs a more efficient analysis of the reliability of the fire-fighting results, and the present invention is able to reduce the reliability of the problem of the robot by simplifying the analysis of the present invention and the reliability analysis of the robot when the robot is more complicated and the reliability of the robot when the robot is greatly increased, the application scene of the invention is further expanded.

It is to be understood that, in the technical scheme of the present invention, the circle center of the circular nozzle of the fire extinguishing agent nozzle of the fire extinguishing apparatus is disposed directly below the circle center of the circular lens of the camera of the thermal imaging sensor, and the fire extinguishing agent nozzle is offset upward so that the fire extinguishing agent sprayed from the fire extinguishing agent nozzle can cover the lower half portion of the thermal imaging image when presented in the thermal imaging image collected by the thermal imaging sensor, and the fire extinguishing agent nozzle is fixedly connected to the thermal imaging instrument so that the fire extinguishing agent nozzle and the thermal imaging instrument can move synchronously.

Specifically, after the fire extinguishing device is started, the current environment temperature is judged in real time, if the current environment temperature is smaller than a seventh preset threshold, the robot is controlled to continue to move towards the direction close to the target until the current environment temperature data is smaller than a second preset threshold and the distance between the current robot and the target is smaller than a third preset threshold, the fire extinguishing device is closed, and the robot moves according to a preset patrol path and a first preset speed and acquires a current frame image of a target area by using an infrared thermal imager arranged on the robot. That is, when the fire extinguishing agent is effective and the flame begins to disappear, if the thermal imager image still has a high temperature point and a fire still exists, and the temperature around the robot begins to drop and drops to a seventh preset threshold, it is proved that the fire extinguishing efficiency of the robot at the current position may begin to drop, at this time, the robot is controlled to continue to move towards the direction indicated by the target search box, other flames of the fire can be timely tracked and extinguished, and the fire can be better controlled and extinguished, specifically, the first preset threshold is set to 120 degrees centigrade, the second preset threshold is set to 80 degrees centigrade, and the third preset threshold is set to 1 meter, which is obtained through a large number of experiments by technical personnel of the invention, whether the fire occurs can be better analyzed, because a high temperature area generally does not exist in an oil exploration area, when the current environmental temperature data collected by the robot is higher than 80 degrees, the fire condition can be judged, when the environmental temperature data is more than or equal to 120 ℃, the environmental temperature reaches the maximum safe temperature born by the normal working of the circuit hardware of the robot, the robot is controlled to start the fire extinguishing device, the arrangement can better prevent the robot from moving to a position which is too close to the fire condition to cause damage of parts caused by too high temperature born by the robot, and simultaneously, the robot is moved to a position which is close enough to the fire condition and safe enough to improve the fire extinguishing efficiency to the maximum extent, reduce the danger of further diffusion of the fire condition and further improve the fire extinguishing efficiency, can better realize the purposes of greatly improving the intelligence degree, the fire extinguishing efficiency, the reliability and the usability of the invention, further simplifies extremely complex problems through ingenious design and does not need complex modeling algorithms, the application scene of the invention is further expanded, and the usability of the invention is greatly improved.

Specifically, the invention autonomously develops a robot control operation platform with the functions of map construction, autonomous positioning and path planning, environmental information acquisition, preemptive detection and dangerous area detection, security protection, guard and the like aiming at the field of petroleum geology, and reduces the time cost of scientific investigation activities in the petroleum geology industry. Meanwhile, the platform operating system has the advantages of universality and multiple-time development and can be applied to a wider market. Meanwhile, in the face of the characteristics of high danger, complex terrain and high accident occurrence probability in the petroleum and geological industry, the self-networking technology is utilized, the self-researched low-power-consumption wireless communication module is combined, and the energy supply module capable of automatically tracking the strongest sunlight is matched to ensure the timeliness and the discontinuity of communication, so that the multi-robot cooperative operation is realized, and the multi-robot cooperative communication system can be normally used in a communication failure area to ensure that the robot can be normally used under various severe conditions. The invention has high structural reliability, environmental protection, energy saving, strong universality and wide development prospect. The invention has universality, is suitable for various robot carriers, can carry various standard specification information acquisition sensor equipment on the market according to different requirements, is applied to various fields and realizes corresponding target functions. The invention adopts an open source system to externally disclose the source code of the system, so that a user can develop the system for the second time and return the modified product to the company so as to achieve the development effect and have stronger developability; the invention provides a universal platform system based on core technologies of map construction, autonomous obstacle avoidance, depth tracking and the like, which realizes functions of mapping, security and the like by matching of various devices, and the system of a robot comprises the following components: the Ubuntu System is installed on the raspberry embedded System, and then an ROS Robot Operating System (Robot Operating System) is transplanted to carry out autonomous development of a pervasive platform capable of carrying out technical integration and application. And transplanting a timely positioning and mapping (SLAM) algorithm into the ROS to realize the functions of autonomous obstacle avoidance navigation, environmental information acquisition, unknown environment map construction and the like. And meanwhile, the rotating speed of a motor of the robot is controlled, data information measured by the sensor is processed, actual control of the robot is realized, and finally a characteristic map is constructed.

For realizing the autonomous motion control of the robot, the current pose of the robot needs to be acquired and tracked, and the angle of the pre-walking route of the robot is decided. The current position, the attitude, the motion and other information of the robot are acquired in real time by adopting a sensor to acquire the pose. And calculating the position deviation of the robot from the predefined planned path. The robot pre-walking path tracking method utilizes a pure path tracking algorithm to track the robot pre-walking path. The Beidou positioning system is used for positioning the path of the robot, and the positioning accuracy of centimeter level can be obtained according to RTK, so that the requirement of automatic navigation of the robot can be met.

The transverse deviation of the robot can be known through a distance formula between the point and the straight line, and the current course of the robot is measured by using the Beidou receiver.

The robot of the invention is provided with an environment sensing system, and the environment sensing system mainly comprises an omnibearing vision sensor, an inertial navigation and a mileometer (photoelectric encoder) which are independently researched and developed. The omnibearing visual sensing technology simulates the design of 'fly' eyes, can obtain environment images of different depths of 360 degrees outside, and can be spliced to establish a three-dimensional scene. Meanwhile, the pitch angle of the camera can be adjusted, and three-dimensional scenes with different height levels can be established. The inertial navigation module integrates a high-precision gyroscope, an accelerometer and a geomagnetic field sensor, and can quickly solve the current real-time motion attitude of the module by adopting a high-performance microprocessor and an advanced dynamic solution and Kalman dynamic filtering algorithm. By adopting an advanced digital filtering technology, the measurement noise can be effectively reduced, and the measurement precision is improved. The speedometer (photoelectric encoder) can measure the rotating speed of the motor, so that the motion state of the robot and the position of the robot can be accurately measured in real time, and necessary data is provided for the positioning and path tracking of the robot.

The robot of the present invention also has a human-machine, machine-machine interaction system: the man-machine interaction device is mainly a voice interaction platform and mainly comprises a voice positioning module based on a microphone array, a voice pickup module, a voice feature extraction module, a voice recognition module and a voice synthesis module. The voice positioning module amplifies the sound source information of the designated area, and voice feature extraction is facilitated. The voice pickup module mainly acquires a voice signal. The voice feature extraction module comprises a voice filtering module, a background noise removal module and a voice amplification module and is mainly used for denoising and amplifying the voice signals. The voice recognition module converts the captured voice into robot voice so that the robot can make corresponding reaction. The voice synthesis module synthesizes the machine voice into voice to be played.

Referring to fig. 2, the present invention provides an embodiment of a method for controlling a fire-fighting robot in a petroleum exploration area, the method comprising:

p0, start

P1, acquiring a current frame image of a target area by using an infrared thermal imager arranged on the robot in the moving process of the robot according to a preset patrol path and a first preset speed.

It should be noted that, specifically, the present invention sets an infrared thermal imaging camera on the robot, for acquiring the infrared thermal imaging image of the current frame of the target area, that is, acquiring the image of the target area about the temperature change.

The method comprises the steps of setting a first preset speed, a second preset speed, a first preset threshold, a second preset threshold, a third preset threshold, a fourth preset threshold, a fifth preset threshold, a sixth preset threshold and a seventh preset threshold, enabling the second preset speed to be larger than the first preset speed, enabling the first preset threshold to be larger than the second preset threshold, preferably enabling the first preset threshold to be 120 degrees centigrade, enabling the second preset threshold to be 80 degrees centigrade, enabling the third preset threshold to be 1 meter, and preferably enabling the robot to move according to the first preset speed or the second preset speed to achieve the purpose of adjusting the duty ratio of a motor of the robot.

And P2, processing and identifying the current frame image.

P3, determine whether there is a pixel point whose gray value is greater than or equal to a fourth preset threshold in the current frame image data? If yes, executing the step P4; if not, returning to the step P2.

It should be noted that, the present invention initiatively uses an infrared thermal imager disposed on the robot to collect a current frame image of a target area, process and identify the current frame image, determine whether a target image defined as a high temperature point exists in the current frame image, if the target image defined as the high temperature point exists in the current frame image, the robot moves in the direction of the target and obtains current environmental temperature data by using a temperature sensor disposed on the robot, and if the current environmental temperature data is greater than or equal to a first preset threshold, adjust the angle of a fire extinguishing agent nozzle of a fire extinguishing apparatus disposed on the robot, and start the fire extinguishing apparatus. Specifically, if a pixel point with a gray value greater than or equal to a fourth preset threshold value exists in the current frame infrared thermal imaging image data, the pixel point is determined as a target point. The problem that when a fire occurs in an exploration area, timely monitoring is not easy to perform, the difficulty of manual fire extinguishment is high, and serious resource waste is easily caused is solved, the application scene of the invention is greatly expanded, a large amount of manpower and material resource cost is saved, resources are saved to a great extent, and the development of the robot in the field of oil exploration is promoted.

And P4, determining the pixel point as a target point, determining a target range according to the target point, wherein the target range needs to include all the target points in the current frame image data, establishing a target search frame according to the target range, approaching the target indicated by the target search frame by the robot, measuring the real-time distance between the robot and the target in real time by using a laser distance sensor and a temperature sensor on the robot, and obtaining the current environment temperature data.

Specifically, if a pixel point with a gray value greater than or equal to a fourth preset threshold exists in the current frame of infrared thermal imaging image data, the pixel point is determined as a target point, a target range is determined according to the target point, the target range needs to include all target points in the current frame of infrared thermal imaging image data, a target search frame is established according to the target range, the robot approaches a target indicated by the target search frame and measures the real-time distance between the robot and the target in real time, when the distance between the robot and the target is smaller than or equal to the third preset threshold, whether the area of the target search frame is greater than or equal to the fifth preset threshold and whether the total gray value of each target point is greater than or equal to the sixth preset threshold is determined, and if the area of the target search frame is greater than or equal to the fifth preset threshold or the total gray value of each target point is greater than or equal to the sixth preset threshold, it is determined that a target image defined as a high-temperature point exists in the current frame of infrared thermal imaging image. The target search frame comprises a target range and a background of a preset range around the target, mass points of the target are calculated, the search frame is established by taking the boundary of the target as a base point, the search frame is expanded to be a preset multiple of the search frame established by taking the center of mass of the target as a base point, and therefore the target search frame can completely include a fire occurrence area.

P5, judging whether the distance from the robot to the target is less than or equal to a third preset distance? If yes, executing step P6; if not, returning to the step P4.

P6, determine whether the area of the target search box is greater than or equal to a fifth preset threshold? If yes, executing step P7; if not, returning to the step P1.

P7, determine whether the total gray-level value of the target points is greater than or equal to a sixth preset threshold? If yes, executing step P8; if not, returning to the step P1.

And P8, judging that a target image defined as a high-temperature point exists in the current frame image, moving the robot to the direction indicated by the target search box at a second preset speed, and calculating the distance between the robot and the target in real time.

Specifically, if a target image defined as a high-temperature point exists in the current frame image, the robot moves to the direction of the target according to a preset patrol path and a second preset speed. The second preset speed is greater than the first preset speed, so that the robot can quickly approach the target indicated by the target search box, the time is saved, the loss possibly caused by fire is reduced, and the intelligent degree of the robot is greatly improved.

P9, determine whether the current ambient temperature data is greater than or equal to a second preset threshold? If yes, executing step P11; if not, executing step P10.

P10, determine whether the distance between the robot and the target is less than a third preset threshold? If yes, go to step P20; if not, returning to the step P8.

P11, outputting an alarm signal.

P12, determine whether the current ambient temperature data is greater than or equal to a first preset threshold? If yes, executing step P13; if not, returning to the step P8.

The technical personnel of the invention can better analyze whether a fire occurs or not by setting the first preset threshold value to 120 ℃, the second preset threshold value to 80 ℃ and the third preset threshold value to 1 m through a large number of experiments, and the fire can be judged when the current environmental temperature data collected by the robot is greater than or equal to 80 ℃ because a high-temperature area does not exist in a petroleum exploration area generally, and when the environmental temperature data is greater than or equal to 120 ℃, the environmental temperature reaches the maximum safe temperature born by the normal work of circuit hardware of the robot, and the robot is controlled to start the fire extinguishing device. When the robot can better prevent the robot from moving to a position close to the fire, the damage of parts caused by the overhigh temperature of the robot can be prevented, meanwhile, the robot can be moved to a position close enough to the fire and safe enough to maximize the fire extinguishing efficiency, reduce the danger of further spreading the fire and further improve the fire extinguishing efficiency, the intelligent degree, the fire extinguishing efficiency, the reliability and the usability of the fire extinguishing robot can be greatly improved, the extremely complicated problems are further simplified through the ingenious design, the complex algorithm modeling is not needed, the application scene of the fire extinguishing robot is further expanded, and the usability of the fire extinguishing robot is greatly improved.

And P13, adjusting the thermal imager to enable the bottom edge of the target search box to be located at a first preset distance above the bottom edge of the thermal imaging image.

It should be noted that the adjusting the angle of the fire extinguishing agent nozzle of the fire extinguishing apparatus disposed on the robot includes: will the centre of a circle of the circular spout of extinguishing agent spout of extinguishing device sets up under the centre of a circle of the circular lens piece of the camera of thermal imaging sensor appearance, and set up the upwards skew of extinguishing agent spout, make it reach the lower half that can cover the thermal imaging image when the fire extinguishing agent of extinguishing agent spout spun presents in the thermal imaging image of thermal imaging sensor collection, and with extinguishing agent spout and thermal imaging appearance fixed connection, make extinguishing agent spout and thermal imaging appearance can synchronous motion, adjust the thermal imaging appearance, make the base of target search frame be located apart from the first distance department of predetermineeing in thermal imaging image base top, first predetermined distance is less than the half height of thermal imaging image. The fire extinguishing agent can be covered on the root of flame when sprayed out, the fire extinguishing efficiency is further improved, the intelligent degree of the fire extinguishing agent is improved to a great extent, the usability of the fire extinguishing agent is greatly improved, the fire extinguishing agent is ingenious in design, the system architecture is simple and efficient, and the application scene of the fire extinguishing agent is greatly expanded.

P14, starting the fire extinguishing device.

P15, determine whether the current ambient temperature data is less than a seventh preset threshold? If yes, go to step P16; if not, the step P14 is returned to.

P16, the robot continues to move closer to the target indicated by the target search box.

P17, determine whether the current ambient temperature data is less than a second preset threshold? If yes, go to step P18; if not, the step P14 is returned to.

P18, determine whether the distance between the robot and the target is less than a third preset threshold? If yes, go to step P19; if not, the step P14 is returned to.

It should be noted that, in the technical solution of the present invention, when the robot moves towards the direction of the target, it is determined whether the current environmental temperature data is greater than or equal to a second preset threshold, if the current environmental temperature data is greater than or equal to the second preset threshold, an alarm signal is output, the robot continues to move towards the direction of the target until the environmental temperature data is greater than or equal to the first preset threshold, which is less than the first preset threshold, because the fire occurs, the current environmental temperature data has a linear relationship with the distance from the flame, the closer to the flame, the higher the temperature, the present invention performs a more efficient analysis of the fire extinguishing environment temperature by controlling the robot to approach the target indicated by the target search box and measuring the real-time distance of the robot from the target and the current environmental temperature data in real time, if the current environmental temperature data is greater than or equal to the second preset threshold, the fire occurrence is determined, because the severity of the fire is different, when the fire is more severe, the distance from the fire area is further away, the fire area is not greater than the third preset threshold, the present invention performs a more efficient analysis of the fire extinguishing environment data, and the present invention performs a more simple and more complicated analysis of the reliability analysis of the present invention, and the reliability analysis of the related fire is greatly reduced, the present invention is more complicated and the reliability is more complicated and the present invention is implemented when the reliability is more complicated and the present invention is implemented, the application scene of the invention is further expanded.

P19, closing the fire extinguishing device, moving the robot according to a preset patrol path and a first preset speed, and collecting a current frame image of the target area by using an infrared thermal imager arranged on the robot.

It should be noted that, after the fire extinguishing apparatus is turned on, the present environmental temperature is determined in real time, if the present environmental temperature is less than a seventh preset threshold, the robot is controlled to continue to move in a direction close to the target until the present environmental temperature data is less than the second preset threshold and the distance between the present robot and the target is less than the third preset threshold, the fire extinguishing apparatus is turned off, the robot moves according to a preset patrol route and a first preset speed, and an infrared thermal imager arranged on the robot is used for collecting the current frame image of the target area. Namely, when the fire extinguishing agent is effective and the flame begins to disappear, if a high-temperature point still exists in the image of the thermal imager and a fire still exists, the temperature around the robot begins to drop and drops to a seventh preset threshold, the fact that the fire extinguishing efficiency of the robot at the current position possibly begins to drop is proved, the robot is controlled to continue to move towards the direction indicated by the target search box, other flames of the fire can be timely tracked and extinguished, the fire can be better controlled and extinguished, specifically, the first preset threshold is set to 120 ℃, the second preset threshold is set to 80 ℃, the third preset threshold is set to 1 m, the technical personnel can better analyze whether the fire occurs or not through a large number of experiments, because a high-temperature area does not exist in general in an oil exploration area, when the current environment temperature data collected by the robot is higher than 80 ℃, the occurrence of the fire can be judged, when the environment temperature data reaches the maximum safe temperature which the fire extinguishing circuit hardware of the robot can bear when the fire extinguishing circuit works normally, the robot is controlled to be further more skillfully opened, the problem that the robot can be further prevented from being damaged by the intelligent control, the intelligent, the robot can be further improved, the problem that the robot is further improved, the safety of the robot is further realized by the intelligent control, the robot is further improved, the safety of the robot when the environment temperature data is further improved, the environment data is further improved, the safety of the robot is further realized, and the robot is further improved, the safety of the robot is further realized by the robot is further improved, and the invention, the invention is further improved, the invention is realized by simple and the safety of the invention is realized by further improved, when the safety of the robot when the robot is realized by the intelligent control device is not needed, the application scene of the invention is further expanded, and the usability of the invention is greatly improved.

P20, returning to the step P1.

And P21, ending.

Referring to fig. 3, the present invention provides another embodiment, which provides a control system for a fire-fighting robot in a petroleum exploration area, the control system comprising:

the infrared thermal imager 1 is used for acquiring a current frame infrared thermal imaging image of a target area;

the operation control module 2 is used for acquiring the current frame infrared thermal imaging image acquired by the infrared thermal imaging instrument 1, processing and identifying the current frame infrared thermal imaging image, and judging whether a target image defined as a high temperature point exists in the current frame infrared thermal imaging image;

or when a target image defined as a high-temperature point exists, controlling the robot to move towards the direction of the target and obtaining current environment temperature data by using a temperature sensor arranged on the robot; or when the current environment temperature data is greater than or equal to a first preset threshold value, adjusting the angle of a fire extinguishing agent nozzle of a fire extinguishing device arranged on the robot and starting the fire extinguishing device 3;

the fire extinguishing device 3 is used for spraying fire extinguishing agent and comprises a fire extinguishing agent nozzle.

Specifically, the invention autonomously develops a robot control operation platform with the functions of map construction, autonomous positioning and path planning, environmental information acquisition, preemptive detection and dangerous area detection, security protection, guard and the like aiming at the field of petroleum geology, and reduces the time cost of scientific investigation activities in the petroleum geology industry. Meanwhile, the platform operating system has the advantages of universality and multiple-time development, and can be applied to a wider market. Meanwhile, in the face of the characteristics of high danger, complex terrain and high accident occurrence probability in the petroleum and geological industry, the self-networking technology is utilized, the self-researched low-power-consumption wireless communication module is combined, and the energy supply module capable of automatically tracking the strongest sunlight is matched to ensure the timeliness and the discontinuity of communication, so that the multi-robot cooperative operation is realized, and the multi-robot cooperative communication system can be normally used in a communication failure area to ensure that the robot can be normally used under various severe conditions. The invention has high structural reliability, environmental protection, energy saving, strong universality and wide development prospect. The invention has universality, is suitable for various robot carriers, can carry various standard specification information acquisition sensor equipment on the market according to different requirements, is applied to various fields and realizes corresponding target functions. The invention adopts an open source system to externally disclose the source code of the system, so that a user can develop the system for the second time and return the modified product to the company so as to achieve the development effect and have stronger developability; the invention provides a universal platform system based on map construction, autonomous obstacle avoidance, depth tracking and other core technologies, which realizes functions of mapping, security and the like by matching various devices, and the system of the robot comprises the following components: the Ubuntu System is installed on the raspberry embedded System, and then an ROS Robot Operating System (Robot Operating System) is transplanted to carry out autonomous development of a pervasive platform capable of carrying out technical integration and application. And transplanting a timely positioning and mapping (SLAM) algorithm into the ROS to realize the functions of autonomous obstacle avoidance navigation, environmental information acquisition, unknown environment map construction and the like. And meanwhile, the rotating speed of a motor of the robot is controlled, data information measured by a sensor is processed, the actual control of the robot is realized, and finally a characteristic map is constructed.

For realizing the autonomous motion control of the robot, the current pose of the robot needs to be acquired and tracked, and the angle of the pre-walking route of the robot is decided. The current position, the attitude, the motion and other information of the robot are acquired in real time by adopting a sensor to acquire the pose. And calculating the position deviation of the robot from the predefined planned path. The robot pre-walking path tracking method utilizes a pure path tracking algorithm to track the robot pre-walking path. The Beidou positioning system is used for positioning the path of the robot, and the positioning accuracy of the centimeter level can be obtained according to RTK, so that the requirement of automatic navigation of the robot can be met.

The robot of the invention is provided with an environment sensing system, and the environment sensing system mainly comprises an omnibearing vision sensor, an inertial navigation and a mileometer (photoelectric encoder) which are independently researched and developed. The omnibearing visual sensing technology simulates the fly eye design, can obtain environment images with different depths of 360 degrees outside, and is spliced to establish a three-dimensional scene. Meanwhile, the pitch angle of the camera can be adjusted, and three-dimensional scenes with different height levels can be established. The inertial navigation module integrates a high-precision gyroscope, an accelerometer and a geomagnetic field sensor, and can quickly solve the current real-time motion attitude of the module by adopting a high-performance microprocessor and an advanced dynamic solution and Kalman dynamic filtering algorithm. By adopting an advanced digital filtering technology, the measurement noise can be effectively reduced, and the measurement precision is improved. The speedometer (photoelectric encoder) can measure the rotating speed of the motor, so that the motion state of the robot and the position of the robot can be accurately measured in real time, and necessary data is provided for the positioning and path tracking of the robot.

The robot of the present invention further has a human-machine, machine-machine interaction system: the man-machine interaction device is mainly a voice interaction platform and mainly comprises a voice positioning module based on a microphone array, a voice pickup module, a voice feature extraction module, a voice recognition module and a voice synthesis module. The voice positioning module amplifies the sound source information of the designated area, and voice feature extraction is facilitated. The voice pickup module mainly acquires a voice signal. The voice feature extraction module comprises a voice filtering module, a background noise removal module and a voice amplification module and is mainly used for denoising and amplifying the voice signals. The voice recognition module converts the captured voice into robot voice so that the robot can make corresponding reaction. The voice synthesis module synthesizes the machine voice into voice to be played.

In a preferred embodiment, the present application further provides an electronic device comprising:

a memory; and a processor, wherein the memory stores computer readable instructions, and the computer readable instructions when executed by the processor implement the control method of the fire-fighting robot for the petroleum exploration area. The computer device may broadly be a server, a terminal, or any other electronic device having the necessary computing and/or processing capabilities. In one embodiment, the computer device may include a processor, memory, network interface, communication interface, etc., connected by a system bus. The processor of the computer device may be used to provide the necessary computing, processing and/or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. An operating system, a computer program, and the like may be stored in or on the non-volatile storage medium. The internal memory may provide an environment for the operating system and the computer programs in the non-volatile storage medium to run. The network interface and the communication interface of the computer device may be used to connect and communicate with an external device through a network. Which when executed by a processor performs the steps of the method of the invention.

The invention may be implemented as a computer readable storage medium having stored thereon a computer program which, when executed by a processor, causes the steps of the method of an embodiment of the invention to be performed. In one embodiment, the computer program is distributed across a plurality of computer devices or processors coupled by a network such that the computer program is stored, accessed, and executed by one or more computer devices or processors in a distributed fashion. A single method step/operation, or two or more method steps/operations, may be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps/operations may be performed by one or more computer devices or processors, and one or more other method steps/operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step/operation, or perform two or more method steps/operations.

It will be appreciated by those of ordinary skill in the art that the method steps of the present invention may be directed to associated hardware, such as a computer device or processor, for performing the steps of the present invention by a computer program, which may be stored in a non-transitory computer readable storage medium, which when executed causes the steps of the present invention to be performed. Any reference herein to memory, storage, databases, or other media may include non-volatile and/or volatile memory, as appropriate. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, hard disk, solid state disk, and the like. Examples of volatile memory include Random Access Memory (RAM), external cache memory, and the like.

The respective technical features described above may be arbitrarily combined. Although not all possible combinations of features are described, any combination of features should be considered to be covered by the present specification as long as such combination is not contradictory.

The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A control method of a fire-extinguishing robot in a petroleum exploration area is characterized in that,

if there is the target image who defines as the high temperature point in the current frame image, the robot removes and utilizes the temperature sensor who sets up on the robot to the direction at target place to obtain current ambient temperature data, if current ambient temperature data is greater than or equal to first preset threshold value, the angle of the fire extinguishing agent spout of adjustment setting up the extinguishing device on the robot to open extinguishing device.

2. The method of claim 1, wherein said robot moving in the direction of the target and obtaining current ambient temperature data using a temperature sensor mounted on the robot further comprises:

3. The method of controlling a fire fighting robot at a petroleum exploration area according to claim 2, wherein said method further comprises:

4. The control method of a fire fighting robot in an oil exploration area according to claim 3, wherein said determining whether a target image defined as a high temperature point exists in the current frame image includes:

5. The method of controlling a fire fighting robot in a petroleum exploration area according to claim 2, wherein said adjusting an angle of a fire extinguishing agent nozzle of a fire extinguishing apparatus provided on a robot includes:

will the centre of a circle of the circular spout of extinguishing agent spout of extinguishing device sets up under the centre of a circle of the circular lens piece of the camera of thermal imaging sensor appearance, and set up the upwards skew of extinguishing agent spout, make it reach the fire extinguishing agent of fire extinguishing agent spout spun and can cover the latter half of thermal imaging image when appearing in the thermal imaging image of thermal imaging sensor collection, and with fire extinguishing agent spout and thermal imaging appearance fixed connection, make fire extinguishing agent spout and thermal imaging appearance can synchronous motion, adjust the thermal imaging appearance, make the base of target search frame be located apart from the first distance department of predetermineeing in thermal imaging image base top, first predetermined distance is less than the half height of thermal imaging image.

6. The method of controlling a fire fighting robot at a petroleum exploration area according to claim 4, wherein said method further comprises:

7. The control method of fire fighting robot for petroleum exploration areas according to claim 6, wherein said opening a fire fighting device further comprises:

after the fire extinguishing device is started, the current environment temperature is judged in real time, if the current environment temperature is smaller than a seventh preset threshold value, the robot continues to move towards the direction close to the target until the current environment temperature data is smaller than a second preset threshold value and the distance between the current robot and the target is smaller than a third preset threshold value, the fire extinguishing device is closed, and the robot moves according to a preset patrol path and a first preset speed and acquires the current frame image of the target area by using an infrared thermal imager arranged on the robot.

8. The method of controlling a fire fighting robot at a petroleum exploration area according to claim 1, wherein said method further comprises:

9. A control system of a fire-extinguishing robot in a petroleum exploration area is characterized by comprising:

and the alarm module is used for outputting an alarm signal.

10. An electronic device, comprising: a memory; and a processor having stored thereon computer readable instructions which, when executed by the processor, implement the method of controlling a petroleum exploration area fire fighting robot according to any one of claims 1 to 8.