Design And Achievement Of High-rise Building Fire Fighting Robot

At present, high-rise buildings are sprouting up around the city, at the same time, high-rise building fire is increasing, which seriously endangers human life and property safety. The existing fire fighting robots play an important role in the low-rise building fire, but there are very few for high-rise buildings. Considering that high-rise building fire has characters of difficulties of timely evacuation and rescue, the article presents a suspended fire fighting robot, the robot is connected with helicopter by a cable and transported over high building which is on fire by a helicopter, it can complete the task of rescue and fire fighfing outside the high-rise buildings, which puts forward a new train of thought for high-rise building fire and has the important reference value on rescue and fire fighting of high-rise building.The article introduces the composition and working principle of the high-rise fire fighting robot, designs a robot prototype and analyzes it with aerodynamics in FLUENT software platform. The system mathematical model of the high-rise building robot and external environment is established by using Newton mechanics method, and the position and attitude controller of the robot system is designed and simulated. The position and attitude control experiment on environment of various wind conditions is finished and the relative data is determined. The main research contents of this article include the following aspects:1. Introduced high-rise building fire fighting robot system. We introduce the each subsystem and working principle of high-rise building fire fighting robot, then design and analyze its mechanical prototype model.2. Established dynamic model on high-rise building fire fighting robot. We have the aerodynamic analysis on the propeller used in high-rise building fire fighting robot, and get the relationship between the propeller thrust and the propeller speed in the case of interference of external wind. Then the dynamic model of the robot system is established based on Newton mechanics method, and the simulation model of the robot system is established on SIMULINK platform.3. Designed control system of high-rise fire fighting robot. According to the working principle of robot system, software an hardware platform of robot control system is built. Then aiming at the problem of positon and attitude control of robot system, we develop the position and attitude controller, and have the robot control system simulated.4. Constructed experimental platform and methods, and verified the position and attitude control strategy of high-rise building fighting robot based experiments in the cases of increasing the external wind disturbance. The experimental results show that the position and attitude control algorithm designed in this article can solve the problem of position and attitude control of the robot.At last, the article summarized the whole research content. The problems exiting current study are indicated and the recommendations and outlook for the next stage research are rendered.