Research On Key Technologies Of Tunnel Fire Fighting Robot Collaborative Fire Extinguishing

With the rapid development of science and technology in China,the emergence of shield boring machines has made China’s highway tunnels not only increase year by year in number,but also become longer and longer in length.In this way,once a traffic accident occurs in the tunnel and causes a fire,and due to the semi-enclosed space of the tunnel,the fire extinguishing of the tunnel has become a serious problem.First,it is difficult for firefighting equipment to reach the scene in the tunnel environment;Second,the fire produces a large number of toxic and harmful gases that endanger personal safety;Third,the fire situation is complex,prone to explosion,damage to the country’s infrastructure and endangering the life safety of firefighters.For the tunnel environment,this project developed a suspended fire extinguishing robot to replace firefighters in tunnel fire extinguishing operations.According to the application scenarios and task requirements of the suspended fire extinguishing robot,the overall design process of the fire extinguishing robot is determined,mainly including:walking mechanism,sprinkler mechanism and fire extinguishing agent container.According to the principle of fire extinguishing and the working environment,in order to ensure the reliability of subsequent formation movement,the walking mechanism is designed in detail,and the low-pressure vacuum nitriding method is used to strengthen the surface properties of the transmission mechanism material,making it more suitable for the cold and humid environment of the tunnel.Through the research on the system architecture and formation control method of fire extinguishing robot,it is finally determined that a cooperative formation control model under formation condition feedback is established based on the leader-follower formation control framework,and the state space description of firefighting robots and individual tasks is described,the ability vector of firefighting robots and tasks is defined in the form of ability vectors,and different thresholds are set based on the centralized task allocation method to indicate the difference in robot response ability to tasks.Based on the real-time fire scene,the robot movement path planning is carried out,and multiple fire extinguishing robots are automatically assigned to different fire target zones by combining static allocation and dynamic planning,and a fire extinguishing strategy based on intelligent formation is proposed.Based on the different size of the fire,the priority of calling the fire extinguishing robot is also different,and the application of MATLAB for different fire situations to carry out dynamic simulation analysis and experimental verification,which greatly improves the fire extinguishing efficiency,ensures the safety of people and property,and provides a solid and reliable theoretical basis for subsequent products.