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智能消防灭火机器人的研究与开发基本技术教程

作者: 山东国泰科技有限公司 时间:2015-05-06 来源:山东国泰科技有限公司 点击:
摘要:消防人员在灭火时极易中毒。为了解决这一问题,研制能够用于这些场合的侦察消防灭火机器人,协助消防人员进行火灾的定位和灭火,将有极大的社会意义。...

最近几十年中,大量的高层、地下建筑及大型的石化企业不断涌现。由于这些建筑的特殊性,发生火灾时,不能快速高效地灭火。比如,高层建筑发生火灾时,消防人员不可能在短时间内到达高处的火灾发生地点,在地下建筑中,由于环境比较潮湿,烟气不易扩散,消防人员不容易快速判定火源位置;而在石化企业发生火灾时,将产生大量的毒气,消防人员在灭火时极易中毒。为了解决这一问题,研制能够用于这些场合的侦察消防灭火机器人,协助消防人员进行火灾的定位和灭火,将有极大的社会意义。

作为一个智能化的机器,机器人必须具有如下功能:(1)动作机构类似于人或其他生物体某些器官(肢体、感官等)的功能;(2)有通用性,工作种类多样,动作程序灵活易变;(3)有一定程度的智能,如记忆、感知、推测、决策和学习等;(4)有独立性,完整的机器人系统(机器)在工作中可以不依赖人的操纵。侦察消防灭火机器人是一个具有一定智能的机器,要完成上述功能,必须解决下述几个问题[1]。

(1)LUJINGGUIHUAHESHISHI

江苏快3 WEILEJINXINGZHENCHA,ZHENCHAXIAOFANGMIEHUOJIQIRENBIXUDUIZHENCHAMUBIAOJINXINGXUNSHI,BIXUNENGGOUZAIZHENCHAMUBIAONEIANQUANXINGZOU。ZHENCHAXIAOFANGMIEHUOJIQIRENYAOJIEJUEDESHOUYAOWENTIJIUSHIRUHEXINGZOU,YEJIUSHILUJINGGUIHUADEWENTI。DIYI,BIXUYOUQUANJUDEZHENCHALUJINGGUIHUA。DUIBUTONGDEMUBIAO,BIXUZHIDINGBUTONGDEZHENCHALUJINGCELVE,YIZHIDAOJIQIRENDUIMUBIAOJINXINGQUANJUSAOMIAOZHENCHA。DIER,JIQIRENBIXUZHIDAODANGQIANZISHENSUOCHUDEWEIZHI。ZHEIYIWEIZHIFEICHANGZHONGYAO,JIQIRENGENJUDANGQIANWEIZHI,JIEHEQUANJUDEZHENCHAGUIHUA,QUEDINGXIAYIBUDEXINGZOUJIHUA;DUIFAXIANDEHUOYUAN,XIAOFANGMIEHUOJIQIRENTONGGUOQUEDINGHUOYUANXIANGDUIYUJIQIRENDANGQIANWEIZHIDEZUOBIAOYIQUEDINGHUOYUANZAIZHENGGEZHENCHAMUBIAOZHONGDEWEIZHI。DISAN,JIQIRENBIXUSHIBIEXINGZOUZHONGDEZHANGAI。JIQIRENBIXUSHOUJICHUANGANQIDEDAODEXINXI,QUEDINGXINGZOUZHONGDEGEZHONGZHANGAI。ZHEIXIEZHANGAIBAOKUOTAIJIE、QIANGBIDENGGEZHONGTUQIWU,DIMIANDEAOTU,GEZHONGRENWEIFANGZHIDEZHANGAIDENG。JIQIRENBIXUNENGGOUSHIBIEZHEIXIEZHANGAIWU,BINGDUIGEZHONGZHANGAIJINXINGFENLEI。DISI,QUEDINGBIZHANGDEFANGAN。DUISHIBIEDEZHANGAI,XIAOFANGMIEHUOJIQIRENBIXUQUEDINGSHIFOUNENGGOUZHIJIEYUEGUOZHANGAI;DUIBUNENGYUEGUODEZHANGAI,BIXUQUEDINGGUIBIDEFANGAN[2]。

(2)HUOYUANSHIBIEHEDINGWEI

侦察消防灭火机器人江苏快3必须能够识别火源,对火灾发生的地点定位。机器人在行走过程中对环境进行侦察,对传感器得到的信息进行分析,在得到可疑信息处适当地停留,采集更多更详细的数据进行分析,以判定火源的存在[3]。对确定存在的火源,必须对其定位,确定火源相对机器人的位置,以确定火源在整个目标中的实际位置。

(3)MIEHUO

DANGJIQIRENZHAODAOHUOYUANBINGQIEDINGHAOJULIHOU,QIDONGMIEHUOZHUANGZHIJINXINGMIEHUO,DANGHUOMIEHOU,JIQIRENTUICHUHUOCHANG[4]。

1XIAOFANGMIEHUOJIQIRENYINGJIANSHEJI

江苏快3 BENXITONGZHUYAOYOUDANPIANJIMOKUAI、DIANJIQUDONGMO0KUAI、HUOYUANJIANCEMOKUAI、BIZHANGMOKUAIJIDIANYUANMOKUAIDENGGOUCHENG。CAIYONGLEJIYUTWIZONGXIANGUIFANDEZHUCONGJIKONGZHIFANGSHI,YIAVRXILIEDANPIANJIATMega128ZUOWEIKONGZHIXITONGDEZHUMOKUAI,ATMega8ZUOWEIDICENGKONGZHIMOKUAI,SHIXIANKONGZHIZHENCHACHEDONGZUO(RUCHETIDEQIANJIN、HOUTUI、GUAIWANDENG),XITONGKUANGTURUTU1SUOSHI。

1.1DIANJIQUDONGMOKUAISHEJI

ZHILIUDIANJIKONGZHIHEQUDONGDEYINGJIANDIANLURUTU2SUOSHI。QIZHONGDIANJIKONGZHICAIYONGDESHIL298。TONGGUOYIGEL298XINPIANQUDONGLIANGGEZHILIUJIANSUDIANJI,JIANGEA/EBJIEPWM(GAODIANPINGYOUXIAO),P1、P2、P3、P4JIEDANPIANJI,TONGGUOGAIBIANEA、EBYIJIPWMDEZHANKONGBIJIKEKONGZHIDIANDONGJIDEQIDONGTINGZHI、JIASUJIANSUHEQIANJINDAOTUI。

1.2HUOYUANJIANCEMOKUAISHEJI

江苏快3 FANGANYI:CAIYONGGUANGMINDIANZU,LIYONGQIZAIBUTONGDEGUANGQIANGXIAZUZHIBUTONG,QUEDINGXIAOCHEDEZHUANXIANG,DANJIANCEJULIYOUXIAN,YISHOUWAIJIEHUANJINGGANRAO。

江苏快3 FANGANER:CAIYONGGUANGDIANSANJIGUANXINGCHENGZHENLIE,ZAIXIAOCHECHETOUPAILIECHENGWEIBANYUANZHUANGJIEGOU。GENJUSHILIANGHECHENGYUANLI,ANZHAOGEGECHUANGANQICELIANGGUANGQIANGDEBUTONG,QUEDINGXIAOCHEXIANGDUIYUGUANGDEWEIZHI。JIANCEJULIJIAOYUAN,SHOUWAIJIEGANRAOXIAO。

江苏快3 FANGANXUANZE:CAIYONGFANGANER,CIFANGANSHIXIANXIANGDUIFUZADANNENGQUDELIANGHAODEXIAOGUO。

1.3BIZHANGMOKUAISHEJI

江苏快3 FANGANYI:CAIYONGGUANGDIANKAIGUAN,FANGXIANGZASANXIAO,ZAIJULIZHANGAIWUYIDINGJULISHIKECECHUZHANGAIWU,JIAGEDILIAN。

江苏快3 FANGANER:CAIYONGCHAOSHENGBOCEJUDEFANGFA。LIYONGCHAOSHENGBOCHUANGANQI,JIANSHICELIANGFASHEMAICHONGHEJIESHOUMAICHONGDESHIJIANCHA,JISUANCHAOSHENGBOHEWUTIZHIJIANDEJULI。

FANGANXUANZE:CHAOSHENGBOCEJUJIAGEJIAOGAO,QIETONGGUOSUANFAYOUHUA,GUANGDIANKAIGUANWANQUANKEYIMANZUSHEJIYAOQIU,GUCAIYONGFANGANYI。

江苏快3 XIAOCHEBIZHANGMOKUAICAIYONGDEHONGWAIGUANGDIANJIEJINKAIGUAN,JIESHOUJUNYUNFENBUZAIBANYUANZHOUDEWUGEGUANGDIANKAIGUANCAIJIDEXINHAORUTU4SUOSHI,DANPIANJITONGGUODUQUKAIGUANDIANPINGDEGAODIJIKEQUEDINGZHANGAIWUDEFANGXIANG,YINDAOXIAOCHEDUOBIZHANGAI。BENSHEJIZHONGCAIYONGDESHIE18-D80NKXINGGUANGDIANKAIGUAN。

2XIAOFANGMIEHUOJIQIRENRUANJIANSHEJI

KEBIANCHENGWEIKONGZHIQIMOKUAISHIXIAOFANGMIEHUOJIQIRENSHIXIANXIALIEGONGNENG[5]:(1)JIANCECHUANGANQIYITANCEZHOUBIANHUANJING;(2)JIYUCHUANGANYUANJIANDEJIANCEZUOCHUJUECE;(3)KONGZHIJIQIRENYUNDONG;(4)SHIXIANMIEHUOGONGNENG。

2.1XIAOFANGMIEHUOJIQIRENCHENGXUSHEJISILU

(1)XUNZHAOHUOYUAN:JIQIRENZAIGEGEFANGJIANMENKOUSOUSUOFANGJIANSHIFOUYOUHUO,RUGUOYOUHUOJIUTINGXIA。

(2)MIEHUO:JIANCEDAOFANGJIANYOUHUO,LIYONGGUANGMINDIANZUXUNZHAOLAZHU,ZHIJIECHAOHUOYANQIANJIN,DAODAHUOYANYIDINGJULI(YOUCHENGXUSHEDING),TINGXIA,QIDONGMIEHUOZHUANGZHI。

江苏快3 (3)FANHUI:JIQIRENJIUHUORENWUWANCHENG,CONGSUOCHUDEWEIZHIHUIDAOQIDIAN。

江苏快3 2.2XUNGUANG、BIZHANGDAOHANGSUANFA

江苏快3 XUNGUANGSUANFA:GENJUCHUANGANQIHUANLUDEJIEGOU,YIXIAOCHEZUOYOUFANGXIANGZUOWEIXZHOU,BAGEGUANGMINSANJIGUANFENBIEWEIYU0°、45°、90°、135°、180°、225°、270°、315°DEWEIZHI。JISUANXINHAOFUDUJIAODADEGUANGMINSANJIGUANYUWEIZHI90°DEGUANGMINSANJIGUANZHIJIANDEJIAJIAO,JIANGXIAOCHEZHUANDONGZHEIGEJIAJIAO,SHIWEIZHI90°DEGUANGMINSANJIGUANSUOJIESHOUDEXINHAOFUDUJIAODA,RANHOUQIANJIN。

BIZHANGSUANFA:GENJUCHUANGANQIHUANLUDEJIEGOU,YIXIAOCHEZUOYOUFANGXIANGZUOWEIXZHOU,WUGEGUANGDIANKAIGUANFENBIEWEIYU0°、45°、90°、135°、180°DEWEIZHI。GUANGDIANKAIGUANZHINENGSHUCHUTTLDIANPING,KEYIZHUANHUANWEIERJINZHIFENLIANG,DANGCHUANGANQIFENLIANGWEIGAODIANPINGSHI,BIAOSHITANCEDAOZHANGAIWU。

DANGYOUSANGEYISHANGGUANGDIANKAIGUANFENLIANGWEIGAODIANPINGSHI,BIAOMINGZHANGAIQINGKUANGBIJIAOFUZA,CISHIJIANGXIAOCHETUIHOU,RANHOUZAIXIANGYOUYIDUANJULI,JIXUQIANJIN。

DANGZHIYOUYIDAOLIANGGEGUANGDIANKAIGUANFENLIANGWEIGAODIANPINGSHI,BIAOMINGZHANGAIQINGKUANGBIJIAOJIANDAN,CISHIXIAOCHEJIANGYANZHEYUGAODIANPINGCHUANGANQIXIANGFANFANGXIANGXINGJIN,JIXUQIANJIN。

BENSHEJISHIYIATMega128KONGZHIDELUNSHIYIDONGJIQIREN,LIANGLUNCAIYONGZHILIUSIFUXITONGQUDONG,HOUBUQIULUNWEISUIDONGZHICHENGLUN。ZAIYIDONGJIQIRENCHETIQIANBUANZHUANGYOUGUANGMINDIANZU、HONGWAIXIANTANCEFASHEZHUANGZHI,YONGYUCAIJIHUANJINGXINXIDEXINXI,CONGERSHIXIANYIDONGJIQIRENZISHENWEIZHIDEGANZHI。SHIYANBIAOMING,ZAILUJINGSOUSUOGUOCHENGZHONG,YIDONGJIQIRENNENGGOUJIAOHAODIDADAOSOUXUNMUDE,DUIHUANJINGZUOCHUHELIDEFANYING,DADAOYIDINGDEZHINENGSHUIPING。

CANKAOWENXIAN

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[2]XUGUOBAO,YINYIXIN,ZHOUMEIJUAN.ZHINENGYIDONGJIQIRENJISHUXIANZHUANGJIZHANWANG[J].JIQIRENJISHUYUYINGYONG,2007(2):29-34.

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江苏快3 [4]XIWENJIAO,CHENDIYI,MAXIAOYI.JIYUARM9QIANRUSHIXITONGZHINENGXIAOFANGMIEHUOJIQIRENKONGZHIQISHEJI[J].XIANDAIDIANZIJISHU,2010(10):114-117.

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