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
Fire Science and Technology

Fire Science and Technology ›› 2020, Vol. 39 ›› Issue (5): 675-678.

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Research and application on fire source tracking and active disturbance rejection algorithm for fire-fighting robot

GUO Ting-ting1,5, BAO Ming-song2, CHI Rong-hu1,3, LI Juan1,4   

  1. 1. Shandong Atu Robot Technology Co. LTD , Shandong Yantai 264006，China; 2. Shandong Guoxing Intelligent Technology Co. LTD, Shandong Yantai 264006，China; 3. Qingdao University of Science and Technology, Shandong Qingdao 266100， China; 4. Qingdao Agricultural University, Shandong Qingdao 266100， China; 5. Ocean University of China, Shandong Qingdao 266109， China
  • Online:2020-05-15 Published:2020-05-15

Abstract:

For realizing the rapid tracking of fire source through the fire-fighting robot by using a thermal imager, a dynamic model of the two-dimensional(2D) pan-tilt head in the horizontal slewing and vertical pitch directions was carried out in this paper. The tracking control simulation experiment was carried out by using the Active Disturbance Rejection Control (ADRC). In addition, the parameters of the ADRC were tuned in the simulation experiments. Based on the simulation experiments, a physical comparison verification between the traditional PID and ADRC algorithms were performed on the auto-tracking system for 2D pan-tilt. The experimental results showed that the developed auto-tracking based on ADRC algorithm has advantages such as small overshoot, short adjustment time and strong anti-disturbance performance. Moreover, the proposed method provides a basis research for fire-fighting robot to extinguishing the fire automatically.

Key words: fire-fighting robot, automatic fire tracking, PID algorithm, ADRC algorithm