Research On The Key Technology Of Teleoperation Fire-fighting Robot System

Since the advent of robot,robot technology has made great progress,greatly improving the level of human daily production and life.With the development of the times,the level of industrial productivity has been greatly improved,but all kinds of fire accidents have also happened.When the fire operation is carried out in the fire scene,the casualty rate of the firefighters is often high.In order to complete the fire work better and ensure the safety of firefighters,we design a teleoperation fire fighting robot.We complete the main work,which includes the overall design of the robot control system design,hardware and software design of the robot system,robot teleoperation controller,and the performance of the robot experiment and research.Firstly,this paper analyzes the development status of domestic and foreign fire fighting robot teleoperation,summarizes the advantages and disadvantages of the existing fire fighting robot.Aiming at the robot perception and the limited autonomy problem,we design a new type of robot teleoperation robot fire.The robot adopts the structure of crawler machinery,and is equipped with four degrees of freedom mechanical arm.Control system adopts hierarchical system architecture.We design the robot sensing control system based on CAN bus by the robot power module,robot controller module,controller module,robot manipulator motion controller module,water flow sensor,ultrasonic sensor,attitude sensor and gas sensor module.The hardware design is the selection and design of related device circuit of each module of the robot.The software design is the transplantation of UCOSIII real time operating system based on STM32F103,corresponding embedded software.Robot teleoperation controllers include teleoperation control box,handle controller and voice controller.The computer software is written by using QT software.Secondly,in order to analyze the effect of the actual application of robot,we designed corresponding experiments to verify the motion performance and fire performance of the robot,and studied the trajectory of the robot fire water gun.A fire water gun trajectory model equation is established,and the trajectory of fire hydrant is verified by many experiments,which provides a basis for improving the efficiency of fire fighting for robots.Finally,we summarizes the design of teleoperation and control system for fire fighting robot,and looks forward to the improvement of the whole system.