基于移动机器人的室内火灾预警点探测与定位的方法研究

火灾探测技术已成为对火灾进行预防的重要手段之一,目前常用的固定式火灾探测装置不能自主的探测和定位到火警点,对火灾发生初期的预防和灭火有一定的局限性。论文针对该问题,在分析火灾探测技术的基础上,提出一种多位姿仿人鼻的火灾探测装置,并制备出样机,同时尝试将其与可移动机器人结合来实现对室内火警点的探测和定位。基于不同的烟雾情况制定出不同的探测准则,根据该准则进行路径轨迹仿真,经过仿真结果可以看到移动机器人最终定位到火警点的位置。可移动的火灾探测装置在探测和定位到火警点的过程中,若所在空间中由拐角或家具死角导致烟雾扩散有聚集死角的情况存在,会对探测和定位过程造成很大的影响,仿真实验中的移动机器人在探测和定位火警点中的轨迹可以看出死角的存在虽然影响了对火警点的探测,但最终还是能够探测和定位到火警点,其路径轨迹表现出很好的一致性和连续性。

ResearchSonStheSmethodSofSdetectionSandSlocationSforSindoorSfireSwarningSpointSbasedSonSmobileSrobot

fire detection technology has become one of the important means to prevent fire, At present, the frequently-used and fixed fire detection device can not detect and locate the fire point autonomously, thus, there are some limitations in the early stage of fire prevention and fire fighting. Based on the analysis of fire detection technology, this paper proposes a kind of multiposition humanoid nose fire detection device, and model machine is prepared, at the same time, tries to combine it with the mobile robot to realize the detection and location of indoor fire point.InStheSprocessSofSdetectionSandSlocationSofSfireSpointSwithSaSmovableSfireSdetectionSdeviceS,aSgreatSimpactSwillSbeScausedSonStheSdetectionSandSlocalizationSprocess,ifSthereSexistsSgatheringScornerSofSsmokeSspreadingSbecauseSofStheSdeadScornerSorSfurnitureScornerSinStheSspace.AlthoughStheSdeadScornerSaffectsStheSdetectionSofSfireSalarmSpoint,theSdetectionSandSlocationSdeviceScanSalsoSdetectSandSlocateStheSfireSpointSinStheSexperiment.AndSitsSpathSshowSgreatSconsistencySandScontinuity.