基于多传感器信息融合的灭火机器人设计

Design of fire-fighting robot Based on Multi-Sensor information Fusion

为提高智能灭火机器人距离和火焰检测的准确性,设计了由超声波、红外测距模块和数据融合模块组成的测距避障子系统;由红外火焰检测模块、数据融合模块组成的火焰检测子系统,在此基础上,采用自适应加权数据融合算法分别对多传感器检测的距离和火焰信息进行融合,以提高对火源目标判断的准确度。实验结果表明,设计的智能灭火机器人传感器软硬件系统测量相对误差小,能很好的反映火灾现场信息,满足火情探测和灭火需要。

In order to improve the fire and distance detection＇s accuracy of the intelligent fire-fighting robot,the ranging and obsta-cle avoidance subsystem which contains the ultrasound,infrared distance measurement modules and data fusion modules,and theflame detector subsystem which composed by the far-infrared flame sensor and data fusion modules were designed. The two parallelsub -systems composed fire -fighting robots＇ smart sensor systems. Based on this,using adaptive weighted data fusion algorithm,wecan get accurate information of the fire target by fusing the distance and flame information respectively. The experimental resultsshow that the software and hardware systems of the intelligent fire -fighting robot sensors have small relative errors,high reliabilityand can provide abundant information on the fire scene to meet the needs of the fire detection and fire fighting.