TỔNG QUAN NGHIÊN CỨU ROBOT CHỮA CHÁY TỰ ĐỘNG

Đỗ Minh Quân
Đại học Bách khoa Hà Nội
Email liên hệ (corresponding author): quan.dm207779@sis.hust.edu.vn
Nhận bài ngày (received) …… ; Hoàn thiện ngày (revised)……. ; Chấp nhận đăng ngày (accepted)..

ABSTRACT
Automatic fire-fighting robots are currently being considered as a potential solution to reduce the risks
and losses caused by fires. This article provides an overview of the research and development process of
these robots, including the stages from detection to fire suppression, and how they utilize simulation
methods and testing to evaluate their performance. During the research and development process,
scientists and engineers have focused on developing technologies and designs for fire-fighting robots that
are capable of autonomous and efficient operation. These robots are often equipped with sensors and
recognition systems to detect fire areas and determine the type of fire hazard. Upon detection, they deploy
measures such as water spraying, lowering temperatures, or impeding the spread of the fire.
1. INTRODUCTION
In today's world, the threat of fires poses a significant challenge to the security and safety of
communities. The search for effective solutions to prevent and combat fires has become more urgent than
ever. In this context, advancements in the field of autonomous firefighting robots have emerged as a
promising and potential direction. Autonomous firefighting robots not only represent technological
progress but also demonstrate innovation and flexibility in addressing the issue of fire prevention and
suppression. These devices can be programmed to automatically detect and respond to fires, minimizing
risks to firefighters and enhancing the ability to control fires. In this study, we provide an overview of the
latest developments in the field of autonomous firefighting robots. We examine the methods,
technologies, and new designs applied to enhance the detection, response, and control of fires. By doing
so, we aim to contribute to improving the effectiveness of firefighting efforts and reducing losses caused
by fires.
2. THE NECESSITY OF AUTONOMOUS FIREFIGHTING ROBOTS
In today's world, fraught with the risk of fires, the importance of developing and deploying
autonomous firefighting robots is becoming increasingly apparent. Accessing hazardous or hard-to-reach
areas in fire incidents can pose significant risks to firefighters. Autonomous firefighting robots can be
utilized to perform dangerous tasks such as accessing and extinguishing fires without the need for direct
human intervention, thereby minimizing risks and protecting the lives of firefighters. Autonomous
firefighting robots can be programmed to respond immediately upon detecting a fire. This rapid response
capability helps minimize the initial response time and increases the opportunity to control the fire before
it spreads. In situations where the environment becomes too hazardous for humans, such as in large-scale
fire incidents, autonomous firefighting robots can be deployed to perform firefighting tasks without
risking the health and safety of humans. Utilizing autonomous firefighting robots can optimize the use of
manpower and resources during firefighting operations. Robots can operate simultaneously and
coordinate with each other to quickly and effectively control the fire situation. Overall, the deployment
and use of autonomous firefighting robots not only bring safety and efficiency benefits to fire prevention
and suppression but also introduce a novel and innovative approach to firefighting operations.
 3. Theoretical Foundation
3.1 Design scheme selection
The scheme proposed in this paper is mainly oriented with the household aspect, and the vehicle
body is equipped with a six-degree-of-freedom robotic module, photosensitive sensor, smoke alarm
device, camera probe, Bluetooth transceiver module, and walking mechanism consisting of six divisions
(as in Figure 1). According to the actual demand, the sensor of the home fire fighting robot detects the fire
source and then locates it. The scheme proposed in this paper is a combination of fixed detection position
and vehicle sensor to achieve the purpose of timely detection of fire source and rapid response.

Figure 1. Home firefighting robot. T

The GPS chip on the product will transmit the real-time positioning of the product to the user, and
the product will operate when it reaches the designated location, and the measured value will determine
the fire level and remind the user to contact the firefighters. According to the degree of fire extinguishing
operation vehicle carrying the fire extinguisher for processing or robotic rotation clamping fire objects
will be transferred to the designated location, the user through the Defensor equipped with the product to
observe the situation, and the use of target detection algorithm[5], the brushless DC motor control its
movement[6].
The commonly used drive systems are motor drive, pneumatic drive and hydraulic drive. The
two wheels of the mobile trolley and the three axes of the manipulator X, Y and Z are driven by motors.
The motor-driven method is fume-free, odor-free, non-environmental, and low-noise, making it ideal for
use in quiet office and home environments.
 Figure 3. Workflow diagram.
3.2 Critical parts calibration
In this paper, a three-dimensional model of an axle is analyzed by using ANSYS Workbench
finite element analysis software. Using this software not only facilitates the creation of complex models,
but also simulates various contact problems, various systems necessary for the analysis such as the
relevant parameter system.
First of all, the clamping force of the gripper on the workpiece can be calculated by the following
equation： Fn = K1K2K3G（1）
 The result of the calculation is: the clamping force is equal to 180 N; plus the mass of the car
body is 230 N.

Figure 4. Initial stress analysis.

The maximum stress of the gear teeth was found to be 360 MPa, which is within a reasonable
range. 2021 International Symposium on Intelligent Robotics and Systems (ISoIRS 2021) Journal of
Physics: Conference Series 2234 (2022) 012014 IOP Publishing doi:10.1088/1742-6596/2234/1/012014 4
However, the stress concentration was generated at the shoulder of the shaft due to the abrupt
change of the cross-section, so this paper rounded the shoulder to reduce the stress concentration, and
increased the overall material hardness to reduce the excessive stress of the gear, which prolonged the
service life of the robot.
Similarly, the stress analysis at the shaft shoulder after optimization shows that the stress at the
shaft shoulder decreases to 150MPa, which improves the service life of the fire fighting robot. Increasing
the radius of the rounded corners reduces the stress concentration problem caused by the sudden change
of area, and using chamfering treatment on the head reduces the wear during assembly. According to the
comparison of the before and after stress analysis, the gear, shaft shoulder and keyway parts reach the
appropriate values, and the design is reasonable considering the wear problem of subsequent installation.
3.3 Robotic motion control
Home firefighting robots take lightweight design machine, the general control process of the
robot movement is based on PLC algorithm [7], but this can not meet the movement of this program
robot, because the fire rescue time is urgent program operation response time is the shorter the more
favorable, so this paper analyzes the robot movement process and then take the control system based on
PID algorithm
 Figure 6. Figure 6. Software system overall design block diagram.
This article use a gearing design scheme and edit the control system with this [7], using a PID
algorithm, and the manipulator converts the sensor signals into X and Y movements through a chip[8].
Considering that the manipulator starts running from X axis and stops running at Ypoint, i.e. the initial
and stopping speed is zero. For the mechanism running at high speed, in order to reduce the inertial force
of the mechanism, the initial acceleration should not have a sudden change and should also be zero, and
the same acceleration is also zero [9]; to ensure that the mechanism has no impact force during the
operation, the speed acceleration should be smoothly transitioned. And when the robot movement exceeds
the established position, the negative feedback adjustment is used to correct 2021 International
Symposium on Intelligent Robotics and Systems (ISoIRS 2021) Journal of Physics: Conference Series
2234 (2022) 012014 IOP Publishing doi:10.1088/1742-6596/2234/1/012014 5
The initial choice is the traditional PID algorithm, using brushless DC motor system[10] in the
ideal state, that is, the error between the controller input and the set value is less than the error between
controller input and the set value
q0 = Kp(1+T/Ti+Td/T)
q1 = -Kp(1+2Ti/T)
q2= KpTd/T
Bringing in the above data yields T=15.47.
 However, in order to meet the above control trajectory requirements, the end-effector must have a
process of acceleration followed by deceleration and the initial acceleration and termination acceleration
are zero, then the acceleration curve control equation is at least three times the curve to meet the
requirements, thus the acceleration can be introduced as four times the curve, the displacement is five
times the curve, that is, the need to interpolate with a five times polynomial; here because the
displacement of the robot from one point to another and the time used is a non- deterministic number, so
that the displacement and time for normalization, let the time unit be"1", where � = � � , where t is the
instantaneous time and T is the total time [11].

S  a ^5  a ^4  a ^3  a ^2  a   a （5）

V  5a ^4  4a ^3  3a ^2  2a   a （6）

A  20a ^3 12a ^2  6a   2a （7）

According to the starting and ending conditions it is known that：

When  =0，S=0，V=0, A=0；

When =1，S=1，V=0, A=0；

Substituting into the above equation gives：

a0  6, a1  15, a2 10 , a3  0 , a4 0, a5  0

well sorted

S = 6^5-15^4+10^3

V = 30^4-60^3+30^2

A=120^3-180^2+60

This leads to max max A  5.7735,V 1.875

Let the maximum acceleration in reality be max a , and the total time of motion be T, and return
the normalized value to the true value when  1,s Take the maximum value
Smax = (amax/Amax).T^2
Substituting the data to obtain 7.789 improves the accuracy of the manipulator motion due to the
incremental inclusion, while the negative feedback adjustment allows the manipulator to correct itself,
thus greatly reducing the response time.
4. SIMULATION, CALCULATION, DISCUSSION**
4.1. Input Data
4.2. Simulation Methodology and Tools
4.3. Simulation Results and Discussion
- What do the results show?
- Are they consistent with theory and reality?
- In what aspects are they different from previous works?
- Do they provide practical benefits?
- ...

5. CONCLUSION
Based on the theory, methodology, and material utilization, what results have been achieved?
To what extent are these results novel or advanced, compared to others?
In which field can these results be applied?
What further considerations are needed?
What are the prospects for future development of the research problem?
Acknowledgment: The authors acknowledge the financial support from..., and the scientific input from
Prof. ..., etc.
References
[1] Gong Honglock, Yang Huihong. Prospect of firefighting robots in China[J]. Work
Discussion,2012.2.6(1):128-130.
[2] Liu Jun, Cheng Jiguo, Yin Zhi, et al. Analysis of fire fighting robot fire fighting and rescue application
technology[J]. Fire fighting technology and product information, 2010(11):15-18.
[3] Fire Fangbing. Introduction of two domestic firefighting robots [J]. Firefighting products and
information, 2009(5):16-18.
[4] Dang Haichang, Analysis of the current situation and prospects of the application of fire fighting
robots in China's fire fighting and rescue [J]. Firefighting technology and product information,2016(3):71
[5] AKYILDIZ L F. Wireless sensor networks: a survey[J].Computer Networks, 2002,38(8):393-422.
[6] XIE F,WANG N,XI DONGHE,LI SHANFENG. The design of RS485 bus-based intelligent electric
library cabinet communication system[J]. Journal of Dongguan Institute of Technology,2007(05):97-101.
[7] Nanbo, Design of PLC-based pneumatic manipulator control system [J]. Internal Combustion Engine
andAccessories,101-102
[8] Chen Yin, Ren Kan. Improved motion target detection algorithm based on single Gaussian
background model[J]. China Laser, 2014.6.17:4-8
[9] Zhang JC, Hao YL. Design and application of an intelligent firefighting robot based on STM32
microcontroller [J]. Computer Technology and Applications, 2017.3(3):121-122
[10] Zeng Guanghua. Fuzzy PID fire fighting robot brushless DC motor drive system design [M]. Hunan
Universityof Technology, 2012.6.24: 13-21
[11] Xie H. Genetic optimization fuzzy PID fusion algorithm for 5 degrees of freedom robotic control [J],
Journal of Electronic Measurement and Instrumentation, 2015.1: 22-25