It took PLC as the control center and Codesys software as the development platform to improve the the fire fighting robot’s obstacle avoidance performance. The ultrasonic sensors were used to detect the obstacles. Under complex fire environment, the obstacle avoidance function was realized simply and quickly, and the fire extinguishing operation was carried out efficiently, which greatly increased the applicability of fire-fighting robots in dangerous and complex environments, and reduced unnecessary national property losses and fire-fighting personnel casualties. By analyzing the obstacles encountered, it designed and optimized the hardware circuit and software program of the system, it could choose the best way to avoid obstacles and improve the obstacle avoidance performance.
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