基于云平台的消防员自主导航与搜救系统设计与实现  

Design and Implementation of Autonomous Navigation and Search and Rescue System for Firefighters Based on Cloud Platform

作　　者：李婷婷[1] 王琪[1,2] 徐勇军 安郎平[3] 王莽 LI Tingting;WANG Qi;XU Yongjun;AN Langping;WANG Mang(Institute of Computing Technology,Chinese Academy of Sciences,Beijing 100190,China;Zhijiang Laboratory,Hangzhou Zhejiang 311121,China;Beijing Aerospace Control Center,Beijing 100094,China;Unit 96890 of PLA,Baishan Jilin 137000,China)

机构地区：[1]中国科学院计算技术研究所,北京100190 [2]之江实验室,浙江杭州311121 [3]北京航天飞行控制中心,北京100094 [4]解放军96890部队,吉林白山137000

出　　处：《指挥与控制学报》2023年第3期303-313,共11页Journal of Command and Control

基　　金：国家自然科学基金(61773394,62073331)资助。

摘　　要：火灾往往发生在结构复杂、封闭性强的室内环境,易造成建筑结构破坏.火场救援时,消防员的精准定位与状态监测,搜救环境的目标识别与地图构建,动态场景下消防员自适应导航以及高效的信息交互与协同控制是目前的重点和难点.针对以上问题,融合惯性、视觉、GPS、UWB和激光等多源信息,研究基于因子图的多源信息融合定位算法、动态场景下视觉导航自适应算法、基于激光和视觉组合的语义地图构建算法以及基于云平台的大数据分析算法,设计了面向火场救援的消防员自主导航与搜救系统.该系统不仅可以对救援人员实施准确定位、运动分析和状态监测,还可对搜救环境三维场景重构,从而进一步实现自适应的视觉导航,并在搜救过程中实现救援人员之间以及与指挥人员的信息交互和协同控制,从而实现多方协同作战,有效部署,科学救援,提高搜救效率并最大限度地保障救援人员安全.实验结果表明,该系统结合惯性和视觉的局部位姿优化抑制了导航误差的发散,克服了动态场景的不利影响,在复杂的火场场景下依然保持较高的定位精度,实现了对场景的自适应,提高了导航系统的性能.Fire often occurs in the indoor environment with complex structure and strong sealing,which is easy to damage the building structure.During fire rescue,accurate positioning and status monitoring of firefighters,target recognition and map construction of search and rescue environment,adaptive navigation of firefighters in dynamic scenes,and efficient information interaction and collaborative control are the current focus and difficulties.To solve the above problems,multi-source information such as inertia,vision,GPS,UWB and laser,etc.is integrated,multi-source information fusion positioning algorithm based on factor map,visual navigation adaptive method in dynamic scene,semantic map construction algorithm based on laser and vision combination,and big data analysis algorithm based on cloud platform are studied,and a fire rescue oriented firefighter autonomous navigation and search and rescue system is designed.The system can implement accurate positioning,motion analysis and status monitoring for rescue personnel,and can reconstruct the 3D scene of the search and rescue environment to further realize adaptive visual navigation,and information interaction and collaborative control between rescue personnel and commanders during the search and rescue process,so as to achieve multi-party cooperative operations,effective deployment,scientific rescue and to improve search and rescue efficiency and maximize the safety of rescue personnel.The experimental results show that the system combines the local position and attitude optimization of inertia and vision to restrain the divergence of navigation errors and to overcome the adverse effects of dynamic scenes and maintain high positioning accuracy in complex fire scenes,realize the scene adaptation,and improve the performance of the navigation system.

关 键 词：火场救援 多源融合导航 动态视觉SLAM 三维重构 协同控制 

分 类 号：TU998.1[建筑科学—市政工程] TP393.09[自动化与计算机技术—计算机应用技术]