智能灭火机器人的设计与实现方法研究  

Research on Design and Implement Methods of The Intelligent Fire Fighting Robot

作　　者：柏龙灏 柏硌 赵刚要[2] 

机构地区：[1]安徽文康科技有限公司,合肥230088 [2]南昌航空大学航空制造工程学院,南昌330063

出　　处：《合肥学院学报（自然科学版）》2015年第4期50-55,共6页Journal of Hefei University :Natural Sciences

摘　　要：灭火机器人设计主要目的是在火场危险环境下代替人类寻找火源并进行灭火工作,以降低救火时人员伤亡,并提高灭火效率.基于国际赛制机器人灭火比赛规则,自主设计一款智能灭火机器人,包括硬件、软件设计,并设计了多种关键策略,对软硬件系统进行改进,如PID参数的智能计算等,并且选择多种比赛模式.该机器人能有效避免过冲及沿墙行走出现S轨迹等一系列缺陷,灭火速度快、成功率高.The main purpose of the design of fire fighting robot is to search the tLre source ano extinguish the fire on dangerous fire ground to decrease the injury and death of human and improve the efficiency of extinguishment instead of human. In this paper, a kind of intelligent fire fighting robot is designed, including hardware and software design, based on the rule of international robot competition. Furthermore, different varieties of key strategies are designed to improve the system and its function, Such as intelligent calculation of PID parameters, etc, and many competitive modes are chosen. This robot not only can avoid a series of imperfection such as overturning and having ＂s＂ track when running along the wall, but also moves fast and has a very high rate of success.

关 键 词：灭火机器人 加权算法 PID算法 蚁群算法 PSD传感器 

分 类 号：TP399[自动化与计算机技术—计算机应用技术]