Design and Research of an Articulated Tracked Firefighting Robot

Zhao, Jianwei; Zhang, Zhiwei; Liu, Shengyi; Tao, Ye; Liu, Yushuo

doi:10.3390/s22145086

Cited by 9 publications

(3 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Researchers have been studying the application of digital technologies in firefighting operations for decades. Research in the field of firefighting technologies encompasses digital instruction files [27], radio communication [20], aerial and ground robots [34,76], intelligent protective clothing [15,25], and organizational systems for evaluating tasks and optimizing processes [33,49]. Among these, drones are considered to be particularly helpful for firefighting missions in hazardous or large areas.…”

Section: Drones In Emergency Firefighting Responsementioning

confidence: 99%

Firefighters' Perceptions on Collaboration and Interaction with Autonomous Drones: Results of a Field Trial

Li,

Katsiuba,

Dolata

et al. 2024

Proceedings of the CHI Conference on Human Factors in Computing Systems

View full text Add to dashboard Cite

Applications of drones in emergency response, like firefighting, have been promoted in the past decade. As the autonomy of drones continues to improve, the ways in which they are integrated into firefighting teams and their impact on crews are changing. This demands more understanding of how firefighters perceive and interact with autonomous drones. This paper presents a drone-based system for emergency operations with which firefighters can interact through sound, lights, and a graphical user interface. We use interviews with stakeholders collected in two field trials to explore their perceptions of the interaction and collaboration with drones. Our result shows that firefighters perceived visual interaction as adequate. However, for audio instructions and interfaces, information overload emerges as an essential problem. The potential impact of drones on current work configurations may involve shifting the position of humans closer to supervisory decision-makers and changing the training structure and content.

show abstract

Section: Drones In Emergency Firefighting Responsementioning

confidence: 99%

Firefighters' Perceptions on Collaboration and Interaction with Autonomous Drones: Results of a Field Trial

Li,

Katsiuba,

Dolata

et al. 2024

Proceedings of the CHI Conference on Human Factors in Computing Systems

View full text Add to dashboard Cite

show abstract

“…Liu WJ et al designed a triangular tracked regenerative rice harvester for use in agriculture [3]. Zhao J et al engineered a compact, four-track articulated fire-extinguishing robot with four-wheel drive capability, enabling it to adeptly conduct fire detection and extinguishing operations within confined spaces and on challenging terrain [4]. Shafaei S. M. et al pointed out that the traveling speed and payload of tracked vehicles have important effects on the motion and traction power efficiency of vehicles, and the sliding power efficiency of tracked vehicles mainly depends on the load weight [5].…”

Section: Introductionmentioning

confidence: 99%

Simulation and Validation of a Steering Control Strategy for Tracked Robots

Wang,

Zhang,

et al. 2023

Applied Sciences

View full text Add to dashboard Cite

Tracked inspection robots have demonstrated their versatility in a wide range of applications. However, challenges arising from issues such as skidding and slipping have posed obstacles to achieving precise and efficient trajectory control. This paper introduces a method to determine the steering parameters of robot based on the surrounding obstacles and road information. The primary objective is to enhance the steering efficiency of tracked robots. The corresponding relationship between the track speed, driving force and track steering radius of the tracked robot is obtained. Considering the influence of track skid and slip, relationship models about the steering radius and traveling speed of the robot are established. The minimum and maximum steering radii in the obstacle avoidance process are analyzed, and a mathematical model of the relationship between the steering angle of the robot and the distance between the side obstacles is established. The trajectory deviation model of the tracked robot is established, and a principle analysis of the LiDAR ranging is completed. This lays the foundation for a steering measurement and control system for tracked robots. ADAMS(2020) software is used to establish the multi-body dynamics model of the tracked robot, and three different obstacle-avoiding steering control strategies are designed for the robot in a simulated environment with space obstacles. The simulation experiment demonstrates that the robot achieves more efficient obstacle avoidance steering through the use of differential steering, leading to a decrease in both track skid and slip rates. Through the simulation experiment, it can be seen that the robot uses differential steering to complete the obstacle avoidance steering movement more efficiently, and the track skid and slip rates are smaller. The simulation results are used to complete the steering control experiment of the tracked robot on different road surfaces. The results show that by adjusting the track driving parameters, the robot can effectively complete the obstacle-avoiding steering movement by using the differential steering control strategy, which verifies the accuracy of the steering control strategy.

show abstract

“…Numerous researchers have investigated ground mobile robots, focusing on common mobility modes such as wheel-type [4][5][6][7], track-type [8,9], and leg-type [10][11][12][13]. These mobility modes have also been applied to planetary exploration robots to accomplish various space tasks.…”

Section: Introductionmentioning

confidence: 99%

Omnidirectional Continuous Movement Method of Dual-Arm Robot in a Space Station

Zhang

Wang

Zhou

et al. 2023

Sensors

View full text Add to dashboard Cite

The burgeoning complexity of space missions has amplified the research focus on robots that are capable of assisting astronauts in accomplishing tasks within space stations. Nevertheless, these robots grapple with substantial mobility challenges in a weightless environment. This study proposed an omnidirectional continuous movement method for a dual-arm robot, inspired by the movement patterns of astronauts within space stations. On the basis of determining the configuration of the dual-arm robot, the kinematics and dynamics model of the robot during contact and flight phases were established. Thereafter, several constraints are determined, including obstacle constraints, prohibited contact area constraints, and performance constraints. An optimization algorithm based on the artificial bee colony algorithm was proposed to optimize the trunk motion law, contact point positions between the manipulators and the inner wall, as well as the driving torques. Through the real-time control of the two manipulators, the robot is capable of achieving omnidirectional continuous movement across various inner walls with complex structures while maintaining optimal comprehensive performance. Simulation results demonstrate the correctness of this method. The method proposed in this paper provides a theoretical basis for the application of mobile robots within space stations.

show abstract

Design and Research of an Articulated Tracked Firefighting Robot

Cited by 9 publications

References 5 publications

Firefighters' Perceptions on Collaboration and Interaction with Autonomous Drones: Results of a Field Trial

Firefighters' Perceptions on Collaboration and Interaction with Autonomous Drones: Results of a Field Trial

Simulation and Validation of a Steering Control Strategy for Tracked Robots

Omnidirectional Continuous Movement Method of Dual-Arm Robot in a Space Station

Contact Info

Product

Resources

About