Research And Design Of Intelligent Monitoring Fire-fighting Robot Based On ROS

In recent years,with the increasing economic level and the continuous advancement of science and technology,many safety hazards have been ignored,especially the frequent occurrence of fire-based disasters.Today,science and technology provide new ideas for fire rescue,and the development of reliable fire robots can provide safety for firefighters.Based on the above research background,this paper designs and develops an intelligent robot experimental prototype that can carry out fire monitoring and mapping in the fire site.The monitoring fire robot integrates the crawler walking mode,gripper manipulator,RGB-D camera,laser radar and other main structures,and is controlled through the cooperation of hardware system and software system.Based on the ROS operating platform,the method of integrating RGB-D depth camera and laser radar to build maps is innovatively used,so that the intelligent monitoring fire robot can provide site conditions and map information more clearly.This paper firstly discusses the background of research and design in general,in order to determine the research method and research content of this subject,and then propose the overall design scheme of intelligent monitoring fire-fighting robot.This topic mainly divides the intelligent monitoring fire-fighting robot into three parts: mechanical structure,hardware system and software system for research and design.The mechanical structure part mainly carries out the design and preparation of the mobile chassis,the gimbal manipulator and the drive system,as well as the kinematic analysis and installation and debugging.The hardware system mainly designs the controller,actuator,sensor and other auxiliary modules,then prepares the hardware equipment and debugs the experimental prototype.The software system mainly conducts platform construction,basic configuration,serial port control design and communication settings for the ROS operating platform,and conducts on-site debugging of various main functions.Finally,the experimental study of the monitoring function is carried out,and the experimental results using different sensors are compared.It can be concluded that the mapping effect using dual sensor fusion is more clear and reliable.