[机械模具数控自动化专业毕业设计外文文献及翻译]【期刊】东京消防部门的先进消防机器人-外文文献

AdvancedRobotics,Vol.16,No.6,p.55356(2002) VSPandRoboticsSocietyofJapan2002.A TechnicalnoteFirerobotsdevelopedbytheTokyoFireDepartmentKAZUYOSHIMIYAZAWATokyoFireDepartment,Otemach1-3-5Chiyoda-ku,Tokyo100-8119,JapanKeywords:Firebullet5ghtingrobotics;disasterresponserobotics;rescuerobotics;bullet5eldrobotics;deployedrobotics.1.INTRODUCTIONFIREROBOTSFORTHESAFETYOFCITIZENSRemarkablechangesincitystructuresandthesocialenvironmentcontinuetodiversifydisastersinthe21stcentury.Todaysdisastersarehighlyformidableforbullet5rebullet5ghterstohandleandbullet5rerobotsareinwiderusethaninthepast.Firerobotstaketheplaceofbullet5rebullet5ghtersforefbullet5cientbullet5regroundoperationsincircumstanceswherebullet5rebullet5ghtersbullet5nddifbullet5cultyintheiractivitiesbecauseofexplosions,toxicleakage,heat/thicksmokehazards,etc.Asanoverallsupportforemergencyresponse,theTokyoFireDepartmentdevelopsthelatesthigh-technologyrobotsthatcopewithmajorurbandisasters.2.OVERVIEW2.1.Unmannedmonitornozzlevehicle(Rainbow5)(Fig.1)Thisrobotdealswithpetrochemicalcomplexbullet5res,aircraftcrashbullet5res,oil/fatbullet5rescausedbyoverturnedtanktracks,seriousbullet5reswithintenseradiantheat,explosionhazardbullet5res,etc.Table1.Modelsofbullet5rerobotsModel Pieces UsageUnmannedmonitornozzle 4 Firebullet5ghtinglarge-scalebullet5resvehicle(Rainbow5) majoroilbullet5resRemote-control1 tunnelbullet5resbullet5rebullet5ghtingvehicle(JetFighter)Firebullet5ghtingrobot 1 bullet5re-resistive(prototype) buildingbullet5resRescuerobot 1 Rescuehazardousmaterial/(Robocue) toxicgasdisastersUnderwaterrobot 6 searchandrescue(WaterSearch) inwaterReconnaissancerobot 1 Factbullet5nding thicksmoke/toxicgasdisasters(FireSearch)554 K.MiyazawaTherobotisequippedwithanobstacleremovertogetridoffallenobjects,hazardousmaterialsdrums,etc.Atwo-nozzlesystemisappliedtotherobot.Waterandfoamaredischargedat5000and3000l/min,respectively.2.2.Remote-controlbullet5rebullet5ghtingvehicle(JetFighter)(Fig.2)Thisrobothandlesurbandisastersliketunnelbullet5res(e.g.telephonecabletunnelbullet5res)andundergroundshoppingbullet5res.Therobotispropelledbytheforceofhigh-pressurewaterdischargeandamotor.2.3.Firebullet5ghtingrobot(prototype)(Fig.3)Thisremote-controlbullet5rebullet5ghtingrobotbullet5ghtsbullet5resinbullet5re-resistantbuildingsorundergroundmallswhichareinaccessibletobullet5rebullet5ghtersduetobullet6ames,thicksmokeorheat.Therobotiscomprisedofabody,apressurizer,ageneratorforapressurizerandacontrolboard.Therobotdischargeswaterat200l/min.Ahead-mountdisplaypresentsthree-dimensionalimagesfortheeffectiveoperationoftherobot.2.4.Rescuerobot(Robocue)(Fig.4)Thisrescuesandretrievesavictimwithapairofhi-techmanipulators.Itmovesonengine-drivenrubbercrawlers.Asenseofgrippingforceissignaledbacktoanoperatorforbetteroperability.Figure1.Unmannedmonitornozzlevehicle(Rainbow5). Figure2.Remote-controlbullet5rebullet5ghtingve-hicle(JetFighter).Figure3.Firebullet5ghtingrobot(prototype). Figure4.Rescuerobot(Robocue).FirerobotsdevelopedbytheTokyoFireDepartment 555Figure5.Underwaterrobot(WaterSearch). Figure6.Reconnaissancerobot(FireSearch).2.5.Underwaterrobot(WaterSearch)(Fig.5)Thisremote-controlrobotisusedfortheefbullet5cientsearchandrescueofvictimsinwaterwhenbullet5rebullet5ghtersdivingisdifbullet5cultbecauseofweatherconditionsorthedepthofthewater.Usingthreepropellersforhorizontalandverticalmovements,itcandivetoadepthof110m.Itsultrasonicdetector(sonar)bullet5ndsobstaclesinpollutedwater.2.6.Reconnaissancerobot(FireSearch)(Fig.6)Incaseofdifbullet5cultyofbullet5rebullet5ghtersentrytoadisasterscenewiththicksmokeortoxicgases,thisremote-controlrobotrespondsforfactbullet5nding.Itentersdisaster-hitspotsforgasdensitymeasurement,photographyinthicksmoke,situationassessmentwithamonitorcamera,etc.3.CHALLENGESFORFIREROBOTSAlthoughthelatesttechnologyisemployedinourbullet5rerobots,theirfunctionsareneveronsatisfactorylevels.Someoftheproblemsareasdetailedbelow.3.1.HeatresistanceFirerobotsneedtohaveheatresistancefortheircontrolsystem,whichmustbeprotectedfromheatdamage.Althoughawater-coolingsystemisapparentlythemostpractical,itislesseffectiveinpractice.Itisindispensabletodevelopanepochalcoolingsystem.3.2.MobilityItisrequiredthatbullet5rerobotsmoveupanddownstairs.Thereareseveralmeanstoadoptforthegreatermobilityofrobots,liketheemploymentofcrawlersorspecialwheels.Manyofourrobotsareequippedwithcrawlers.However,thisdrivingmechanismhasmanylimitationsonspeedandload.Itisnecessary,therefore,todevelopmoreadvanceddrivingsystems.556 K.Miyazawa3.3.PowersourcesAspowersourcesforbullet5rerobots,severalmeanssuchasinternalcombustionengines,batteries,externalpowersuppliesarepossible.Althoughthereisnoperfectmeans,thebatterysystemisapromisingpowersource.Waterpressureisapowersourcethatcannotbeignored.3.4.SignaltransmissionsystemTherearetwosignaltransmissionsystemsradioandwire.Currentlywireismorereliablethanradio.However,technicaldevelopmentsofrobotsindicateradiosystemsastheissuetobeconsideredinthefuture.3.5.AutonomyOurbullet5naltargetisthedevelopmentofautonomousbullet5rerobotsthatcandecidebythemselveswhatactionstotakebyassessingsurroundingsituations.Togivebullet5rerobotsthecapabilityofautonomy,wehavetointroducemechanicalbrainsintoourrobots.4.CONCLUSIONSTheTokyoFireDepartmenthas14piecesofs