基于ROS的空地协同智能消防系统设计与实现  

The implementation of the air-ground collaborative intelligent firefighting system based on ROS

作　　者：古训 孙阔梅 沈丽东 安鹏飞 Gu Xun;Sun Kuomei;Shen Lidong;An Pengfei(School of Electronics&Information Engineering,Guiyang University,Guiyang Guizhou 550005,China)

机构地区：[1]贵阳学院电子信息工程学院,贵州贵阳550005

出　　处：《消防科学与技术》2025年第3期388-395,共8页Fire Science and Technology

基　　金：贵州省基础研究(自然科学)项目(黔科合基础-ZK[2023]一般011);贵阳学院引进人才启动资金科研项目(GYU-KY-﹝2025﹞)。

摘　　要：传统消防移动机器人作为一种抢险救护移动机器人,可以代替消防人员深入危险区域,完成探测侦查和灭火施救等任务,但其在环境感知及响应速度方面具有局限性。考虑到四旋翼无人机高空侦察探测的优势,设计了带有四旋翼无人机高空辅助侦察功能的空地协同智能消防系统。在消防系统中,采用四旋翼无人机按巡航轨迹在高空实时探测火源,并通过无线局域网络(ROS组网)及时将火源位置信息发送给消防移动机器人,消防移动机器人在接收到响应后,快速前往火灾现场执行灭火操作。试验结果表明,相较于传统的消防移动机器人,本文提出的新型空地协同智能消防系统具有快速发现火源,并能及时到达火场准确灭火的优势,提高了火灾事故发生后的消防救援能力和效率。As a kind of rescue and disaster relief mobile robot,the traditional firefighting mobile robot can replace the firefighters to go deep into dangerous areas and complete the tasks such as detection and investigation,fire fighting and rescue.However,the traditional firefighting mobile robot has limitations in terms of environmental perception and response speed.By considering the advantages of high altitude reconnaissance and detection of the quadrotor unmanned aerial vehicle(UAV),the air-ground collaborative intelligent firefighting system is designed.The quadrotor UAV detects the fire in real time at high-altitude according to the cruise track and shares the location information to the firefighting mobile robot in time through the wireless local area network(ROS networking).After receiving the response,the firefighting mobile robot goes quickly to the fire site to perform the fire extinguishing operations.The experimental results show that,compared with the traditional firefighting mobile robot,the new air-ground collaborative intelligent firefighting system proposed in this paper has the advantages of quickly detecting fire source,timely reaching and accurate firefighting.It can improve the fire rescue ability and efficiency of firefighting after fire accidents.

关 键 词：空地协同消防系统 四旋翼无人机 消防移动机器人 ROS组网 

分 类 号：X913.4[环境科学与工程—安全科学] TU998.1[建筑科学—市政工程]