未知环境下的消防机器人智能灭火技术
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Intelligent Fire Fighting Technology of Fire Fighting Robot in Unknown Environment
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    摘要:

    针对机器人代替消防人员进行灭火救援的需求,进行消防机器人自主火源寻找与智能灭火技术的研究。 对消防机器人的结构与控制系统进行介绍,明确其在未知环境下自主寻找火源与智能灭火的技术要求;对消防机器 人工作环境进行分析,提出技术方案;基于即时定位与地图构建(simultaneous localization and mapping,SLAM)技术 实现消防机器人在未知环境中的自主行走与避障,开发适合于机器人自主寻找火源与定向火源的方法与技术,并通 过实验进行有效性验证。实验结果表明:该机器人能在未知环境中进行自主行走与越障,其定位精度小于0.4 m,火 源识别率大于90%,具有良好的应用前景。

    Abstract:

    Aiming at the demand of fire fighting and rescue by robots instead of firefighters, the research on autonomous fire source search and intelligent fire fighting technology of fire fighting robots is carried out. The structure and control system of the fire-fighting robot are introduced, and the technical requirements of searching for fire source autonomously and putting out fire intelligently in unknown environment are clarified; Based on simultaneous localization and mapping (SLAM) technology, the fire fighting robot can walk and avoid obstacles autonomously in an unknown environment, and the methods and technologies suitable for the robot to find and locate the fire source autonomously are developed, and the effectiveness is verified by experiments. The experimental results show that the robot can walk and cross obstacles autonomously in an unknown environment, the positioning accuracy is less than 0.4 m, and the fire source recognition rate is more than 90%, so it has a good application prospect.

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戴慎超.未知环境下的消防机器人智能灭火技术[J].,2023,42(01).

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  • 收稿日期:2022-09-23
  • 最后修改日期:2022-10-20
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  • 在线发布日期: 2023-02-24
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