| Fire is a major killer lurking in people's working and living environment.In modern society,the rapid economic development has promoted the progress of large-scale factories and petrochemical enterprises,while bringing frequent fire and explosion accidents.Compared with other kinds of disasters,fire hazards to public safety are the most serious,and the economic losses caused by fire are also the largest.To a certain extent,the ability of human beings to control and extinguish fires reflects the progress of social civilization.Fire-fighting robot,as a new fire-fighting tool and means in recent decades,has much higher adaptability than firefighters in high-risk places such as hypoxia,smoke,poison and so on,and can solve the problem of remote data collection and transmission,which has attracted more and more attention from various countries.This paper designs a fire-fighting robot control system based on STM32 microcontroller and PC computer.The system is divided into vehicle-borne control system and rear command system.Vehicle-borne control system is mounted in mobile chassis of fire-fighting robot and enters fire field or dangerous places with fire-fighting robot.It is responsible for collecting environmental data such as temperature,humidity,flame intensity,toxic gas concentration and video information of fire field and sending them to rear command system through wireless data transmission module,receiving control instructions of rear command system at the same time.In addition,the fire fighting robot is equipped with a small pneumatic fire extinguishing gun and a number of fire extinguishing bombs,which can achieve close fire extinguishing in the floor and prevent the spread of the fire.The rear command system is based on PC computer.In this platform,the operator controls the fire fighting robot with keyboard,and receives data and video information from the vehicle system and displays them on the user interface.In addition,an intelligent fire recognition system based on computer vision is developed by utilizing the high computing power and platform characteristics of PC computer.By comparing the pretrained classifier with real-time image,the system can identify the flames and casualties in the fire field,which paves the way for the research and development of fully autonomous intelligent fire-fighting robot. |
