基于物联网和机器视觉的自动导航灭火机器人

IoT and machine vision-based automatic navigation fire fighting robots

目的:设计一种灭火机器人以解决目前国内外灭火机器人研究所存在的环境监测范围受限、避障风险高、火焰识别精度不高三个问题。方法:采用物联网系统框架并结合紫蜂(ZigBee)无线通信技术;采用激光雷达自主避障导航技术并改善其路径规划算法,通过实验确定新算法的最佳参数;采用新型图像预处理方法并进行火焰识别模型的训练。结果:所设计的灭火机器人解决了传统灭火机器人环境监测范围受限、避障风险高、火焰识别精度不高的问题,改善后的火焰识别模型准确率达到90%,实验确定了最佳模型参数为0.6到0.8的区间值。结论:所设计的机器人系统能够高效、可靠地执行火焰检测到灭火的一系列工作,具有很好的现实应用价值。

Aims:This paper aims to design a kind of fire extinguishing robot to solve the three problems of limited environmental monitoring range,high risk of obstacle avoidance,and low flame recognition accuracy existing in domestic and foreign fire extinguishing robot research institutes.Methods:The framework of internet of things systems was adopted and combined with ZigBee wireless communication technology.The lidar autonomous obstacle avoidance navigation technology was adopted with its path planning algorithm improved.The best parameters of the new algorithm were determined through experiments.A new image preprocessing method was adopted to train the flame recognition model.Results:The problems of traditional fire extinguishing robots with limited environmental monitoring range,high risk of obstacle avoidance,and low flame recognition accuracy were solved.The improved flame recognition model had an accuracy rate of 90%.Experiments determined that the best model parameters were between 0.6 and 0.8.Conclusions:The designed robot system can perform a series of work of fire detection and fire extinguishing efficiently and reliably and has a good practical application value.