摘要
消防灭火机器人在复杂的火场情景下可代替消防员完成火场监测和灭火任务。文章设计了一款灭火机器人系统,采用MK60DN512ZVLQ10单片机、三路防震火源采集摄像头、两路红外避障传感器和红外火焰传感器,通过PID算法实现机器人行走的速度控制和方向调节;车身设计综合考虑灭火机器人行走稳定性、负载重量和系统稳定性;系统采用自适应均值滤波算法有效消除火源图像信息噪声干扰,优化火源图像质量,提高火源定位精度;结合红外避障传感器采集信息,利用最小生成树Kruskal算法按照火焰大小和避障规划选择最优灭火路径,达到提高灭火效率和精度的目的。
Fire-fighting robot can replace fireman to complete fire behavior monitoring and extinguishing task in complex fire scene. The hardware of this system is MK60 DN512 ZVLQ10 single-chip micro-computer,three roads shock proof fire acquisition camera,two roads infrared sensor and infrared flame sensor of obstacle avoidance. The self-adjusting speed and direction of the robot are realized by the PID algorithm. The walking stability,load weight and system stability of robot body design has been considered on the fire-fighting robot. An Adaptive Mean Filtering Algorithm is adopted to eliminate the noise interference of the fire source image effectively,optimize the image quality of fire behavior,and improve the positioning accuracy of fire source. Combined with collected information from infrared obstacle avoidance sensor,the best extinguishment path used the minimum spanning tree Kruskal algorithm is planed,which according to the flame size and obstacle avoidance,and the aim of improving efficiency and accuracy of fire-fighting is achieved.
作者
温卫敏
WEN Weimin(College of Computer and Information Sciences,Chuzhou University,Chuzhou 239000,China)
出处
《四川理工学院学报（自然科学版）》
CAS
2018年第3期21-28,共8页
Journal of Sichuan University of Science & Engineering(Natural Science Edition)
基金
安徽省高校教育厅自然科学研究项目(KJ2016B18)
关键词
灭火
机器人
滤波算法
路径规划
fire-fighting
robot
filtering algorithm
pathplanning
