Research On The Navigation And Positioning Of Fire-fighting Robots And Their Autonomous Fire-fighting Technolog

The development of science and technology has driven the use of hazardous substances such as oil,gas and various chemical products,which can easily cause major disasters in the event of leaks,burns and explosions.In fires caused by these hazardous chemicals,large quantities of toxic and hazardous gases are usually produced and there is a risk of explosion at any time.The development of a fire-fighting robot that can replace or assist firefighters in their firefighting and rescue work is essential to ensure the safety of firefighters and to help them understand the situation at the scene of the accident and develop better firefighting and rescue strategies.The paper developed and designed a firefighting robot that can navigate and extinguish fires in a industrial park environment,built its control system,and conducted an in-depth study of navigation and positioning and autonomous firefighting technologies.Firstly,the background and significance of the research on fire-fighting robots were analyzed,the current status of research on fire-fighting robots at home and abroad was investigate,and the key technologies to be solved for fire-fighting robots,such as positioning and autonomous walking,fire source identification and autonomous firefighting were explained.Based on the functional requirements and performance indicators of the fire-fighting robot,the control system scheme was determined,and the fire-fighting robot control system was divided into three main modules: motion control,navigation and positioning,and autonomous fire extinguishing.In the motion control module,the fire-fighting robot control hardware system was first built,using the industrial computer as the core controller,through its embedded control board to complete the motor control and internal relay control,to complete the data acquisition from the controller,through the wireless data transmission module and wireless image transmission module to achieve the communication between the industrial computer and the remote control terminal.In the navigation and positioning module,for the navigation and positioning solution in the industrial park environment,a combination of Kalman filter-based RTK positioning system and encoder odometer positioning method was proposed to realize the navigation and positioning of the fire-fighting robot based on known and unknown maps in the ROS system.In the autonomous fire extinguishing module,different autonomous fire fighting solutions were designed for the two navigation and positioning methods of the fire-fighting robot based on known and unknown maps.The three-light image-based fire detector was used to detect and identify the fire source,and the firefighting robot’s fire source orientation and fire source distance estimation techniques were realized in combination with the fire cannon steering control,and the two techniques were used to cooperate the firefighting robot to extinguish the fire with the cooperation of firefighters.Finally,experiments were conducted to verify the functions achieved by the fire-fighting robot.The experimental results show that the firefighting robot has good climbing and obstacle-crossing performance and is able to perform the set navigation and positioning and autonomous firefighting functions in the industrial park environment.