基于AHP层次分析法的履带式智能消防机器人设计研究

目的 建立消防机器人功能需求指标，将人工智能技术与消防机器人功能结合，设计一款具有无人机监测的智能履带式消防机器人。方法 通过文献研究、市场产品分析，运用KJ亲和图法建立消防机器人功能需求指标;通过问卷和访谈法及AHP层次分析法计算得出各功能指标的权重值，并完成一致性检验;再通过设计实践法从设计定位、设计效果图、结构分析、功能分析、人工智能技术应用、智能控制系统设计、数据模块分析步骤及界面UI设计等流程，完成智能消防机器人的设计实践。结论 得出消防机器人需求指标目标层1个、一级指标4个和二级指标13个，其中一级指标的重要排序为安全性、功能性、智能性和美学性，消防员对机体防爆性、机体耐火性、爬坡/越障/避障功能评级较高，同时希望具有智能分析火源、规划行走路径、无人机巡查等功能。将研究结论和设计实践相结合，设计了一款具有监测无人机的智能消防机器人，通过路空两种模式相互配合，无人机可巡查并规划路径、智能分析、定点监控和火情报警等功能，消防机器人可具有进入危险火场完成灭火和救援等功能。

Research and Design of Intelligence Crawler Fire Fighting Robot Based on Analytic Hierarchy Process

The work aims to design an intelligent crawler fire fighting robot with unmanned air vehicle (UAV) monitoring functions in virtue of artificial intelligence (AI) technology and fire fighting robot function in order to define the functional demand indicators of the fire fighting robot. Functional demand indicators of the robot above were defined by literature research and market product analysis in virtue of KJ affinity graph. The weighted values of all functional indicators were calculated by questionnaires, interviews and analytic hierarchy process (AHP), and consistency test was completed as well. Then the design practice of the robot was completed from such processes as design positioning, sketch design, structural analysis, functional analysis, application of AI technology, design of intelligent control system, steps of data module analysis and design of interface UI, etc. via the design practice method. 1 target layer, 4 first-level indicators and 13 second-level indicators of demand indicators of the robot are obtained. To be specific, the priority ranking of first-level indicators is safety, functionality, intelligence and aesthetics. Firefighters give high ratings on the explosion resistance, fire resistance and functions of climbing, obstacle crossing and avoidance of the robot. They also show expectations on intelligent functions of the robot, such as intelligent analysis of fire sources, planning of walking paths, and UAV patrol check, etc. At last, an intelligent fire fighting robot with UAV monitoring function is designed by combining the research conclusions and design practice. In virtue of the land and air modes, the UAV is capable of patrol check, path planning, intelligent analysis, fixed point monitoring, fire alarm, etc. as well as fire extinguishing and rescue.