一种安全工作于城区环境的消防侦察机器人  

A Fire Reconnaissance Robot Working Safely in Urban Environments

作　　者：钱钧[1] 杨汝清[1] 翁新华[1] 刘红星[1] 

机构地区：[1]上海交通大学机器人研究所,上海200030

出　　处：《机器人》2006年第6期571-575,581,共6页Robot

基　　金：国家863计划资助项目(2003AA421010)

摘　　要：介绍了一种应用于城区环境的消防侦察机器人.它采用具有关节链轮的差动轮式结构,适于爬楼梯和斜坡.采用实时泄漏补偿方式维持车体内具有恒定正压,确保机器人的防爆安全性能.在失去无线控制信号时,机器人根据侦察过程中记录的传感器数据,按原路径返回,并自动回撤到安全区域.由于使用单一的编码器获得的位置信息具有累积误差,本文采用新颖的编码器与超声波传感器数据集成的方法,并使用迭代最近点算法进行数据匹配,调整机器人的位置和方向角,获得了较高的自动回撤精度.A fire fighting robot for urban environment is presented, and it uses articulated-chain-wheeled mobile style with differentially driven wheels, which adapts itself to climbing stain and slopes. The constant overpressure achieved with real time leakage compensation inside the body endows the robot with explosion protection capability, When wireless signal is interrupted, it can return to a sale place automatically according to the sensory data memorized in the scouting process, Since position information from encoders has serious cumulative errors, a novel algorithm integrating data from encoders and ultrasonic sensors is built, which uses iterative closest point method to do data matching so as to adjust the position and orientation of the mobile robot. This algorithm realizes high accuracy in the process of automatic returning.

关 键 词：移动机器人 火场侦察 自动回撤 迭代最近点 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]