摘要
传统的灭火机器人定位系统应用于仓库等复杂环境的消防工作时,普遍存在着定位误差较大、定位完成时间较长等问题,提出基于激光导航的灭火机器人定位系统。分析激光导航的灭火机器人工作过程,提出了灭火机器人定位系统硬件部分和软件部分的设计方案。系统硬件部分主要由激光导航模块、控制模块、通信模块、底盘驱动模块、视觉采集模块、温度监测模块、消防模块及自动充电模块组成;软件部分由地图自动生成模块、定位模块、全向移动导航模块和信息上传模块组成,由此实现灭火机器人高精度定位。测试结果表明,使用所提的灭火机器人定位系统进行定位的误差较小、定位完成时间较短,更适用于仓库等复杂环境,具有一定的应用价值。
When traditional fire extinguishing robot positioning system is applied to the fire protection work in complex environments such as warehouses,the problems of large positioning error and long positioning completion time are common.The design scheme of high-precision positioning system for fire extinguishing robot based on laser navigation is proposed.The working process of the fire extinguishing robot based on laser navigation is analyzed,and the design scheme of the hardware and software parts of the fire extinguishing robot positioning system is proposed.The hardware part of the system is mainly composed of laser navigation module,control module,communication module,chassis drive module,visual acquisition module,temperature monitoring module,fire protection module and automatic charging module.The software part is composed of automatically generated map module,positioning module,omnidirectional mobile navigation module and information uploading module.Therefore,the high-precision positioning of the fire extinguishing robot is realized.The test results show that,the proposed method has small positioning error and less positioning time,which is more suitable for complex environments such as warehouses and has certain application value.
作者
乔俊福
郭晋秦
李永伟
QIAO Junfu;GU Jinqin;LI Yongwei(Department of Automation,Taiyuan Technology University,Taiyuan 030008,China;School of Instrument and Electronics,North University of China,Taiyuan 030051,China)
出处
《激光杂志》
北大核心
2019年第12期94-97,共4页
Laser Journal
基金
山西省重点研发计划项目(No.201603D121040-1)
太原工业学院青年(后备)学科带头人支持计划资助(No.2018003)
关键词
激光导航
灭火机器人
高精度定位
控制
laser navigation
fire extinguishing robot
high precision positioning
control
