轮足混合式消防机器人系统建模与仿真分析

Modeling and simulation analysis of wheel-foot hybrid fire fighting robot system

基于现场火灾环境的消防作业要求,设计了一款可在轮式和步态运动模态自由切换,并基于红外视觉识别定位火源点,实现多方位喷射灭火的轮足混合式消防机器人。首先,建立机器人的整体模型;其次,分析系统的基本工作原理。进行行走装置的参数计算、建模仿真分析、振动位移分析以及搭建视觉伺服控制系统。结果表明,行走装置的机构设计符合要求,其振动位移曲线与路面不平度曲线基本一致,视觉伺服控制系统的火焰识别算法整体检测结果良好。该消防机器人可实现对老旧楼道的攀越。针对轮腿机构运动模式转换提出了合理的解决方案,可实现对火焰图像的基本识别。

Based on the firefighting operation requirements of the on-site fire environment,a wheel-foot hybrid fire fighting robot is designed,which can switch freely between wheeled and gait motion modes,and locate the fire source based on infrared vision recognition.Firstly,the overall model of the robot is established.Secondly,the basic working principle of the system is analyzed.On this basis,the parameters calculation,modeling and simulation analysis,vibration displacement analysis and visual servo control system of the walking device are carried out.The results show that the mechanism design of the walking device meets the requirements,the vibration displacement curve is basically consistent with the road roughness curve,and the overall detection result of the flame recognition algorithm of the visual servo control system is good.The fire robot can climb the old corridor,and can realize the basic recognition of the flame image.And this paper put forward a reasonable solution for the movement mode conversion of the wheel-leg mechanism.