基于方位实时调整的变电站消防机器人灭火作业系统设计

Design of fire extinguishing operation system based on real⁃time orientation adjustment for transformer substation fire⁃fighting robot

为减少机器人火源定位的误差以及过弯纠偏时间,文中设计一种基于方位实时调整的变电站消防机器人灭火作业系统。在硬件方面,设计机器人履带行走装置,优化目标检测的传感装置,获取火源实时图像、距离、方位等信息数据。在软件方面,首先构建机器人直行和转向的运动学模型,通过改变驱动轮驱动力调整运动速度和方向,优化火源定位算法,使消防炮对准火源从而实现灭火作业;然后选取存在保护半径的复杂场景,将机器人安装在半径范围内进行对比实验。结果表明:设计系统能够有效减少火源定位偏差,其定位火源的平均水平误差为0.12 m;过弯时的纠偏时间较短,平均过弯纠偏时间为0.5 s,能够使运动轨迹更加贴合设定巡迹,在变电站消防灭火方面具有一定的应用价值。

In order to reduce the fire source positioning error of robot and shorten the rectifying deviation time through the turning,a fire extinguishing operation system based on real⁃time orientation adjustment is designed for transformer substation fire⁃fighting robot.In terms of hardware,the crawler travelling unit of robot is designed,and the sensing device of target detection is optimized to obtain the real⁃time image,distance,orientation and other information data of fire source.In terms of software,the kinematics model of robot straight line running and turning is constructed,the movement speed and direction are adjusted by changing the driving force of driving wheels,and the fire source positioning algorithm is optimized to aim the fire monitor against at the fire source,so as to realize the fire extinguishing operation.The complex scene with protection radius is selected,and the robot is installed within the radius range for the comparative experiment.The results show that the designed system can effectively reduce the deviation of fire source positioning(the average horizontal error of fire source positioning is 0.12 m),and the system′s rectifying deviation time through the turning is short(the average time through turning is 0.5 s),which can make the motion track more fit the set patrol track,and has a certain application value in transformer substation fire extinguishing.