结构空间主动消防机器人系统研究与设计

在室内结构空间系统通过视觉、三波段探测、激光烟感等手段实现了火灾的早发现早报警。通过与之配套的自主移动消防机器人完成路径规划，携带场景适用的灭火剂到达着火点实施主动灭火。此系统的设计可以将火灾扼杀在萌芽状态，最大限度地减小损失。机器人能否以最短时间到达火点主要取决于路径规划的算法好坏，因此研究了蚁群算法和A*算法，最后通过改进A*算法设计，实现了机器人的最优路径规划。基于LabVIEW 软件完成系统开发，在实验室场地进行了功能测试，达到了在无人值守情况下机器人主动消防的目的。

Research and design of structural space active firefighting robot system

In the indoor structural space system, the early fire alarm is realized by means of vision, three band detection and laser smoke sensing. The path planning is completed by the supporting autonomous mobile firefighting robot, which carries the scene suitable fire extinguishing agent to the ignition point to implement the active firefighting. The design of this system can nip the fire in the bud and minimize the loss. Whether the robot can reach the fire point in the shortest time mainly depends on the algorithm of path planning. Therefore, ant colony algorithm and A* algorithm are studied. Finally, the optimal path planning of the robot is realized by improved A* algorithm. The task is based on LabVIEW software to complete the system development, and the function test is carried out in the laboratory field, so as to achieve the goal of robot active fire protection in the unattended situation.