煤矿消防灭火机器人系统设计

A system design for coal mine fire-fighting robots

消防灭火机器人是煤矿井下防灭火治理及灾后救援的重要装备,但目前针对煤矿井下复杂地形的机器人定位、路径规划、火灾险情识别及精准灭火等方面的研究较少。针对该问题,提出了一种煤矿消防灭火机器人系统设计方案。结合超宽带(UWB)、激光雷达技术,采用迭代最近点(ICP)算法实现机器人定位初始化;结合惯性测量装置和里程计数据,采用自适应蒙特卡洛定位(AMCL)算法实现机器人实时定位,实测定位精度达5~10 cm;通过加入寻找新目标点的容忍距离参数对A^(*)算法进行优化,并采用优化A^(*)算法实现机器人路径规划,测试结果表明,采用优化A^(*)算法进行路径规划用时短,规划的路径合理;通过先验知识生成着火点特征图片库,采用模板匹配方法识别险情目标,测试结果表明,机器人对动态多着火点的虚警率在10%以内,识别率达90%,满足应用要求;采用速度、位置双闭环的串级控制器实现云台俯仰轴和偏航轴角度控制,并通过云台控制将消防弹投射至险情目标,为煤矿精准灭火提供技术支持。

Although fire-fighting robots are important devices for underground coal mines to prevent and deal with fire incidents,current research has hardly studied the approaches of robot locating,path planning,and accurate fire detection and extinguishment for complex underground coal mine topography.To fill the gap,this paper proposes a system design for underground coal mine fire-fighting robots.By combining the technologies of ultra wide band(UWB)and laser radars,the design applies the iterative closest point(ICP)and the adaptive Monte Carlo localization(AMCL)algorithms to initialize robots’position and locate robots in a real time manner,respectively.By using inertial measurement units and odometers,the design can raise the real localization accuracy up to 5-10 centimeters.By adding a distance parameter to limit the searching area,an enhanced A^(*)algorithm is proposed to plan paths for robots.Experiments show that the algorithm can find the suitable paths in lower time cost.The design supports a robot to detect targets using a template mapping system based on a pregenerated feature image set.It limits the false positive rate to 10%(true positive rate of 90%)and completely meets the design requirement.The design allows a robot to be equipped with a cascade controller that uses feedbacks of velocity and position to control the elevation and yaw angels of the pan-tilt-zoom(PTZ).Fire extinguishing bombs can be further thrown to targets,via the PTZ,to support accurate fire extinguishment.