主管：中华人民共和国应急管理部
主办：应急管理部天津消防研究所
ISSN 1009-0029  CN 12-1311/TU
消防科学与技术

消防科学与技术 ›› 2022, Vol. 41 ›› Issue (2): 237-241.

• • 上一篇    下一篇

室内智能消防机器人设计与路径规划研究

何光层1，常 景1，杨竣皓1，刘志坚2   

  1. (1.云南电网有限责任公司保山供电局，云南 保山 678000；2.昆明理工大学 电力工程学院，云南 昆明 650504）
  • 出版日期:2022-02-15 发布日期:2022-02-15
  • 作者简介:何光层（1984-），男,陕西安康人，云南电网公司保山供电局高级工程师，主要从事电力生产管理及技术研究，云南省保山市隆阳区永昌路369号，678000。

Research on design and path planning of indoor intelligent fire-fighting robot

HE Guang-ceng1, CHANG Jing1,YANG Jun-hao1, LIU Zhi-jian2   

  1. (1. Baoshan Power Supply Bureau, Yunnan Power Grid Co., Ltd., Yunnan Baoshan 678000, China; 2. School of Electrical Engineering, Kunming University of Science and Technology, Yunnan Kunming 650504, China)
  • Online:2022-02-15 Published:2022-02-15

摘要： 设计研发了一种室内智能消防机器人，由激光雷达、移动底盘、机械臂、深度相机、热成像深度相机、灭火剂喷头、控制箱等组成。机器人具备遥操作、建图、自主导航、巡检、灭火等功能，通过感知周围环境完成自动导航避障。消防机器人基于火情报警信息，采用改进A*算法进行全局路径规划，并使用动态窗口法（Dynamic Window Approach,DWA）修正局部路径。在移动到火警位置后，机器人使用机械臂调整灭火装置喷嘴，对准火源喷射灭火剂实现灭火。实测结果表明，所设计机器人具备机动灵活、性能稳定等优点，能够有效完成设定灭火任务。

关键词: 室内智能消防机器人, 路径规划, 改进A*算法, 动态窗口法

Abstract: Designed and developed an indoor intelligent fire-fighting robot, which is composed of lidar, mobile chassis, robotic arm, depth camera, thermal imaging depth camera, fire extinguishing agent nozzle, control box, etc. The robot is imposed with the functions of teleoperation, mapping, autonomous navigation, inspection, and fire extinguishing, and could navigate, as well as avoid obstacles automatically by sensing the surrounding environment. Fire-fighting robot adopts the improved A* algorithm for global path planning based on the fire alarm information, and the dynamic window method is employed to modify the local path planning.After reaching the fire alarm position, the robot uses the mechanical arm to adjust the nozzle of the fire extinguishing device, and achieving fire extinguishing by spray fire extinguishing agent at the fire source. Actual test results show that the designed robot has the advantages of maneuverability and stable performance, and can effectively complete the fire-fighting task.

Key words: indoor intelligent fire-fighting robot, route planning, improved A* algorithm, dynamic window method