| The Internet of Things has the characteristics of comprehensive perception,reliable transmission and intelligent processing.Combined with the fire robot can solve the problems such as personal safety,lack of data acquisition,not real-time feedback when the fireman in the implementation of fire rescue.In this thesis,according to the requirement of the standard of GA 892.1-2010 "Fire robot—Part 1:General specifications",a kind of fire-reconnaissance robot based on Internet of Things is designed to replace the fireman to carry out detection and rescue work in dangerous scene.The main work of this paper is as follows:According to the functional requirements,the overall structure and hardware platform of the fire-reconnaissance robot are completed.The design of the motion control system,the embedded gateway platform system,the sensor detection system and the power supply system is made in detail,which makes the robot have the capability of sensing the environment and reliable data transmission capacity on the basis of certain movement ability.The system communication network is build and implemented,the functions of data acquisition and processing are completed.A heterogeneous network system is constructed by the combine of the system of bottom wireless sensor network of and the Internet.The wireless sensor network based on ZigBee protocol is completed by designing Z-Stack protocol stack.The transmission of data between the sensing layer and the application layer is achieved by the combine of the WLAN and 3G/4G mobile communications.To enhance the stability of the system and the accuracy of data collection,the Kalman filter is used to the robot attitude detection,the fuzzy logic is used to the robot obstacle avoidance control,the adaptive weighted fusion algorithm is used to environmental monitoring,and the direct gray-scale transformation method is adopted to carry out the target enhancement processing on the infrared image.The design of the Fire-reconnaissance robot system software is completed,and some experiment of the system is tested.The software of the embedded gateway platform with data processing and data forwarding functions is designed,and the software of the rear command system for information integration,processing,display and control of the vehicle system is designed.In the environment of the laboratory,the robot function of turn,obstacle avoidance,data transmission,processing and human-computer interaction is verified.The introduction of Internet of Things improves the level and efficiency of the Fire-reconnaissance robot,and it play an important role in reduce the loss of state property and fire casualties. |
