基于多传感器融合技术的智能抢险救灾机器人设计  

Design of Intelligent Emergency Rescue Robots Based on Multi-sensor Fusion Technology

作　　者：王艳新 唐文秀[1] 吴函 赵国平 何金龙 WANG Yan-xin;TANG Wen-xiu;WU Han;ZHAO Guo-ping;HE Jin-long(College of Mechanical and Electrical Engineering,Northeast Forestry University,Harbin Heilongjiang 150040,China)

机构地区：[1]东北林业大学机电工程学院,黑龙江哈尔滨150040

出　　处：《林业机械与木工设备》2018年第5期17-20,共4页Forestry Machinery & Woodworking Equipment

基　　金：东北林业大学大学生国家级创新训练计划项目(201710225158)

摘　　要：提出了一种基于多传感器融合技术的抢险救灾机器人设计方法。采用基于压力充气的烟雾稀释成像系统解决了浓烟环境下图像传感器无法进行正常信息采集的难题。同时,应用D-S理论实现了抢险救灾机器人的目标识别,应用粗糙集理论的多传感器数据融合技术实现了抢险救灾机器人的自身避障行进,为机器人抢险救灾提供准确、全面的决策方法。A design method of emergency rescue robots based on multi-sensor fusion technology is proposed. A pressure inflation-based smoke dilution imaging system is used to solve the problem that image sensors can not conduct normal information collect in a strong smoke environment. Meanwhile,D-S theory is applied to realize the target recognition of the emergency rescue robots and a multi-sensor data fusion technology based on the rough set theory is used to realize the obstacle avoidance during the movement of such robots and provide an accurate and comprehensive decision-making method for robots during emergency rescue and disaster relief.

关 键 词：机器人 抢险救灾 数据融合 D-S理论 粗糙集理论 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]