CN105159323A - Six-wheel single-core fully automated type low-speed fire-extinguishing robot servo controller - Google Patents
Six-wheel single-core fully automated type low-speed fire-extinguishing robot servo controller Download PDFInfo
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- CN105159323A CN105159323A CN201510519898.8A CN201510519898A CN105159323A CN 105159323 A CN105159323 A CN 105159323A CN 201510519898 A CN201510519898 A CN 201510519898A CN 105159323 A CN105159323 A CN 105159323A
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Abstract
The invention discloses a six-wheel single-core fully automated type low-speed fire-extinguishing robot servo controller, which comprises an STM 32F407 type processor and an image capturing unit. The processor is in communication connection with the image capturing unit. Due to the adoption of the above arrangement, the STM 32F407 type processor-based brand-new six-wheel drive control mode is conducted, and the STM 32F407 type processor is adopted as the processing core of a control panel. In this way, the eight-axis hybrid servo control over the digital signal real-time processing process is realized by a sixth-axis DC brushless motor and a two-axis DC motor, and the servo controller is capable of responding to various interrupts. Therefore, the real-time storage of data signals is realized. Based on the vacuum adsorption technique, the slipping phenomenon of a robot during the walking process can be completely eliminated, and the location accuracy of the robot is effectively improved. Based on the image capturing technique and the ignition source location correcting technique, the ignition source discrimination reliability and the fire-extinguishment reliability are effectively improved.
Description
Technical field
The present invention relate to multi-axis robot etc. field, relating to a kind of six takes turns firefighting robot automatic control system, particularly relates to a kind of six and takes turns monokaryon full-automatic low speed firefighting robot servo controller.
Background technology
Firefighting robot is that in one, in simulating reality life, the mankind find harmful burning things which may cause a fire disaster and can a kind of Intelligent Robot of automatic distinguishing burning things which may cause a fire disaster.Generally, match type firefighting robot can move in a planar structure house model, finds a candle representing burning things which may cause a fire disaster and it extinguished under working rule instructs with the shortest time.The process of robot process fire alarm in simulating reality family.Candle represents the burning things which may cause a fire disaster that family is lighted, and robot must find and extinguish burning things which may cause a fire disaster.The bottom of candle flame is by overhead 15-20cm is high.Candle is the Chinese wax candle of diameter 1-2cm.The exact height of candle flame and size are uncertain, changes, and are determined by the environment of candle condition and surrounding.Candle will be placed in a room of competition area randomly, regardless of flame specifically what size after match starts, all requires that robot can find candle.
In real match, in order to strengthen competition difficulty, competition area are divided into the mode standard of n*n lattice, and what the most often adopt is the uniform pattern of 8*8 lattice, and its competition area two-dimensional structure as shown in Figure 1, will find burning things which may cause a fire disaster and extinguish in 64 lattice rooms by firefighting robot.Search in burning things which may cause a fire disaster map in the two dimension of Fig. 1, the material of wall is wooden general and can be reflective, and the length of every block barricade is that 60cm is long, and height is at 27-34cm.Ground, competition area is smooth, and the floor in place is black, and black is all brushed in any gap on place, and the gap in place is no more than 5mm.Some robots may use foam, and powder or other material carry out the flame of extinguishing candles.Because after the match of each robot, the quality in cleaning place directly has influence on surface state, face, old place does not ensure all to keep absolute black during the games whole.Once start, firefighting robot oneself must control navigation under the intervention of nobody, but not manual control, searching the stability in burning things which may cause a fire disaster process to test firefighting robot, it cannot collide or contact wall, otherwise will be caught a packet.
A complete firefighting robot is roughly divided into following components:
1) motor: actuating motor is the power source of firefighting robot, it performs according to the instruction of microprocessor the relevant action that firefighting robot walks on two dimensional surface;
2) algorithm: algorithm is the soul of firefighting robot.Firefighting robot must adopt certain intelligent algorithm could arrive the motion in another one room quickly and accurately from a room, then finds burning things which may cause a fire disaster, and opens self-contained dry ice controller, put out burning things which may cause a fire disaster;
3) microprocessor: microprocessor is the core of firefighting robot, be the brain of firefighting robot, the information that firefighting robot is all, comprises room wall information, fire location information, and motor status information etc. all needs through microprocessor processes and makes corresponding judgement.
Firefighting robot combines multi-subject knowledge, for promoting the manipulative ability of students, team collaboration's ability and innovation ability, promotes that the scope of one's knowledge of the digestion of student classroom knowledge and expansion student is all very helpful.The unit of domestic this robot of research and development is more, but the robot of research and development is relatively backward, and the firefighting robot structure of research and development is as Fig. 2, and long-play finds to there is a lot of safety problem, that is:
(1) mostly what adopt as the topworks of firefighting robot is stepper motor, often can run into pulse-losing causes motor desynchronizing phenomenon to occur, cause occurring mistake to the memory of position, firefighting robot cannot seek burning things which may cause a fire disaster, or after fire extinguishing, starting point cannot be got back to by robot;
(2) owing to adopting stepper motor, make organism fever relatively more serious, need sometimes to carry out installing heat abstractor additional, robot overall weight is increased;
(3) owing to adopting stepper motor, the mechanical noise that system is operated increases greatly, is unfavorable for environmental protection;
(4) owing to adopting stepper motor, the occasion that system is generally not suitable for speed is higher is run, and easily produces vibration, sometimes may contact wall during high-speed motion, causes finding burning things which may cause a fire disaster failure;
(5) because firefighting robot will brake frequently and start, increased the weight of the workload of single-chip microcomputer, single single-chip microcomputer cannot meet the requirement that firefighting robot starts fast and stops;
(6) what relatively adopt is all the plug-in components that some volume ratios are larger, and make firefighting robot control system take larger space, weight is relatively all heavier;
(7) owing to disturbing by surrounding environment labile factor, singlechip controller often there will be exception, and cause firefighting robot out of control, antijamming capability is poor;
(8) burning things which may cause a fire disaster process is found for two-wheeled firefighting robot, the pwm control signal of two motor of General Requirements wants synchronous, due to the restriction by single-chip microcomputer computing power, single single-chip microcomputer servo-drive system is difficult to meet this condition, firefighting robot walking navigation is made to be difficult to control, particularly for worse off cake when walking fast;
(9) owing to adopting two power wheels to drive, acceleration during in order to meet fast searching burning things which may cause a fire disaster and deceleration, make the power of single drive motor larger, the space not only taken is larger, and under the state that some relative requirements energy are lower, sometimes cause the phenomenon of " low load with strong power " to occur, be unfavorable for the saving of the firefighting robot system energy;
(10) in actual fire extinguishing procedure, burning things which may cause a fire disaster may not be in room center of a lattice, and causing has an angle between the direction of travel of firefighting robot and burning things which may cause a fire disaster, causes putting out a fire and has consumed a large amount of dry ice, sometimes may extinguish burning things which may cause a fire disaster;
(11) in actual fire extinguishing procedure, due to the burning of candle, it is highly also changing, and the burning things which may cause a fire disaster in this and reality is also closely similar, but the nozzle height of the dry-ice fire extinguisher that general firefighting robot carries is fixing, cause effectively to put out burning things which may cause a fire disaster;
(12) in actual fire extinguishing procedure, common light source acquisition sensor can may receive the interference of external light source, causes fire extinguishing to seek failure, cannot finish the work.
Therefore, need to redesign based on monolithic processor controlled two-wheeled firefighting robot controller existing, seek a kind ofly economic and practical use six in reality to take turns full-automatic fire-extinguishing machine people servo-drive system.
Summary of the invention
The technical matters that the present invention mainly solves is to provide a kind of six and takes turns monokaryon full-automatic low speed firefighting robot servo controller, better can improve the adaptive faculty of firefighting robot to complex environment, six wheel constructions are adopted to instead of original two-wheeled and four wheel constructions, take into account the mid-advantage turned to of two-wheeled, adopt forerunner+in drive+six wheel drive structures of rear-guard, two DC brushless motor power of mid-driving are larger, four DC brushless motor power of preposition and rearmounted driving are less, only just start when power demand is higher, play power-assisted effect, owing to adopting six wheel drive technology, take turns all dynamic in before and after firefighting robot, can be different with ambient conditions and demand torque is distributed on all wheel in front and back by different proportion by exploring ground, to improve the driveability of firefighting robot.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide a kind of six and take turns monokaryon full-automatic low speed firefighting robot servo controller, comprise battery, processor, DC brushless motor X, DC brushless motor Y, DC brushless motor Z, direct current generator M, DC brushless motor R, DC brushless motor U, DC brushless motor W, direct current generator E and firefighting robot, described battery provides separately the processor described in electric current driving, and described processor adopts STM32F407, and described processor sends the first control signal respectively, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal and the 7th control signal, by the first described control signal, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal, 7th control signal and the 8th control signal, by the first described control signal, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal and the 7th control signal, by the first described control signal, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal, 7th control signal and the 8th control signal control described DC brushless motor X respectively, DC brushless motor Y, DC brushless motor Z, direct current generator M, DC brushless motor R, DC brushless motor U, control the motion of firefighting robot after the signal syntheses of DC brushless motor W and direct current generator E again, also comprise image acquisition units, described processor is connected with image acquisition units communication.
In a preferred embodiment of the present invention, described battery adopts lithium ion battery.
In a preferred embodiment of the present invention, the first described control signal, the second control signal, the 3rd control signal, the 4th control signal, the 5th control signal, the 6th control signal, the 7th control signal and the 8th control signal are PWM wave control signal.
In a preferred embodiment of the present invention, the inside of described processor is also provided with master system and kinetic control system, described master system comprises room and explores module, room storage module, path read module, human-computer interface module and online output module, described kinetic control system comprises eight axle mixing servo control module, coordinate setting module, I/O control module and image capture module, wherein, eight described axle mixing servo control module comprise six axle DC brushless motor firefighting robots and search servo control module, single axle vacuum sucker suction servo control module and flame snuffer single shaft lift servo control module.
In a preferred embodiment of the present invention, described six take turns firefighting robot servo controller also comprises ultrasonic sensor, current sensor, photoelectric sensor, voltage sensor and acceierometer sensor, and described ultrasonic sensor, current sensor, photoelectric sensor, voltage sensor and acceierometer sensor are all connected with processor communication.
In a preferred embodiment of the present invention, the quantity of described ultrasonic sensor is 6, the quantity of current sensor is 8, the quantity of photoelectric sensor, voltage sensor and acceierometer sensor is 1.
In a preferred embodiment of the present invention, described six take turns firefighting robot servo controller also comprises photoelectric encoder, and described photoelectric encoder is arranged on DC brushless motor X, DC brushless motor Y, DC brushless motor Z, direct current generator M, DC brushless motor R, DC brushless motor U, DC brushless motor W and direct current generator E respectively
The invention has the beneficial effects as follows: of the present invention six take turns monokaryon full-automatic low speed firefighting robot servo controller, the stability of two-wheeled firefighting robot walking and the requirement of rapidity can not be met for overcoming single-chip microcomputer, give up the mode of operation based on Single-chip Controlling two-wheeled that domestic self-extinguishing machine people adopts, under the prerequisite absorbing external Dynamic matrix control thought, independent research is based on the brand-new six wheel drive control models of STM32F407, control panel take STM32F407 as process core, the eight axle mixing servocontrol digital signals realizing six axle DC brushless motors and diaxon direct current generator process in real time, and respond various interruption, realize the real-time storage of data-signal.Meanwhile, the introducing of vacuum suction technology completely eliminates the generation of robot ambulation skidding, effectively improves the accuracy of robot location; Acquisition technology and adding of fire location alignment technique effectively can increase the differentiation of burning things which may cause a fire disaster and the reliability of fire extinguishing.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings, wherein:
Fig. 1 is firefighting robot room schematic diagram;
Fig. 2 is based on monolithic processor controlled two-wheeled firefighting robot schematic diagram;
Fig. 3 is for take turns firefighting robot structural drawing based on STM32F407 six;
Fig. 4 is for take turns full-automatic fire-extinguishing machine people schematic diagram based on STM32F407 six;
Fig. 5 is for take turns full-automatic fire-extinguishing machine people servo programe block diagram based on STM32F407 six;
Fig. 6 is firefighting robot traffic direction schematic diagram;
Fig. 7 is right-hand rotation schematic diagram;
Fig. 8 is left-hand rotation schematic diagram.
Embodiment
Be clearly and completely described to the technical scheme in the embodiment of the present invention below, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
As shown in Figure 4, the present embodiment comprises:
A kind of six take turns monokaryon full-automatic low speed firefighting robot servo controller, comprise battery, processor, DC brushless motor X, DC brushless motor Y, DC brushless motor Z, direct current generator M, DC brushless motor R, DC brushless motor U, DC brushless motor W, direct current generator E and firefighting robot, described battery provides separately the processor described in electric current driving, and described processor adopts STM32F407, and described processor sends the first control signal respectively, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal and the 7th control signal, by the first described control signal, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal, 7th control signal and the 8th control signal, by the first described control signal, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal and the 7th control signal, by the first described control signal, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal, 7th control signal and the 8th control signal control described DC brushless motor X respectively, DC brushless motor Y, DC brushless motor Z, direct current generator M, DC brushless motor R, DC brushless motor U, control the motion of firefighting robot after the signal syntheses of DC brushless motor W and direct current generator E again, also comprise image acquisition units, described processor is connected with image acquisition units communication.
As shown in Figure 3, described six take turns firefighting robot servo controller also comprises ultrasonic sensor, current sensor, photoelectric sensor, voltage sensor and acceierometer sensor, and described ultrasonic sensor, current sensor, photoelectric sensor, voltage sensor and acceierometer sensor are all connected with processor communication.Wherein, the quantity of described ultrasonic sensor is 6, and in the present embodiment, ultrasonic sensor is labeled as S1, S2, S3, S4, S5 and S6; The quantity of current sensor is 8, and in the present embodiment, current sensor is labeled as C1, C2, C3, C4, C5, C6, C7 and C8; The quantity of photoelectric sensor, voltage sensor and acceierometer sensor is 1, and in the present embodiment, photoelectric sensor is labeled as S7, and voltage sensor is labeled as V1, and acceierometer sensor is labeled as A1.
As shown in Figure 5, the inside of described processor is also provided with master system and kinetic control system, described master system comprises room and explores module, room storage module, path read module, human-computer interface module and online output module, described kinetic control system comprises eight axle mixing servo control module, coordinate setting module, I/O control module and image capture module, wherein, eight described axle mixing servo control module comprise six axle DC brushless motor firefighting robots and search servo control module, single axle vacuum sucker suction servo control module and flame snuffer single shaft lift servo control module.
STM32F4 series is except pin and the high performance F2 series of softwarecompatible, the dominant frequency (168MHz) of F4 is higher than F2 series (120MHz), and support the peripheral hardware that monocycle DSP instruction and floating point unit, larger SRAM capacity (192KB, F2 are 128KB), the embedded flash memory of 512KB-1MB and image, network interface and data encryption etc. are more advanced.STM32F4 series, based on up-to-date ARMCortexM4 kernel, has increased signal processing function newly, and has improve travelling speed in existing outstanding STM32 microcontroller products combination; STM32F405x is integrated with timer, 3 ADC, 2 DAC, serial line interface, external memory interface, real-time clock, CRC computing unit and simulates real randomizers at the advanced peripheral hardware of interior the whole series.STM32F407 adds multiple advanced peripheral hardware on STM32F405 product basis.These performances make F4 series can be easier to meet the Digital Signals demand of control and signal processing function mixing.The combination of the low energy consumption of efficient signal processing function and Cortex-M4 processor family, low cost and wieldy advantage, makes it can provide flexible solution for multiaxis Motor Control.These features make STM32F407 be particularly suitable for the signal transacting of multiaxis firefighting robot servo-drive system.
In order to the adaptive faculty of firefighting robot to complex environment better can be improved, the present invention adopts six wheel constructions to instead of original two-wheeled and four wheel constructions: in order to take into account the mid-advantage turned to of two-wheeled, the present invention adopt forerunner+in drive+six wheel drive structures of rear-guard: two DC brushless motor power of mid-driving are larger, four DC brushless motor power of preposition and rearmounted driving are less, only just start when power demand is higher, play power-assisted effect.Owing to adopting six wheel drive technology, take turns all dynamic in before and after firefighting robot, can be different with ambient conditions and demand torque is distributed on all wheel in front and back by different proportion, to improve the driveability of firefighting robot by exploring ground.
Particularly:
In order to room accurately can be sought and effectively find burning things which may cause a fire disaster, the present invention adopts six groups of sensor detection room mode, the firefighting robot structure invented is as shown in Figure 3: ultrasonic sensor S1, S6 acting in conjunction judges front barricade, ultrasonic sensor S2 and S3 coacts and judges the existence of its left side barricade, ultrasonic sensor S4 and S5 coacts and judges the existence of barricade on the right of it, and ultrasonic sensor S2, S3, S4, S5 cooperate to provide navigation foundation for firefighting robot rectilinear motion simultaneously.Due at in-situ match, sunshine likely direct projection is come in, and such infrared sensor just can not in use, and the present invention adopts ultrasonic sensor to instead of infrared sensor.In this vibrational power flow, ultrasonic sensor S2 and S3 can diverse location accurately measure on the left of room from have barricade to without barricade or without barricade to the change having barricade, ultrasonic sensor S4 and S5 can diverse location accurately measure on the right side of room from have barricade to without barricade or without barricade to the change having barricade, the sensor signal Spline smoothing of this position can be captured by controller, then fine compensation can be carried out to firefighting robot in this position, this for firefighting robot solve room map find burning things which may cause a fire disaster and turn back to starting point calculate most important, if there is no this intelligent compensation, the cumulative errors of firefighting robot likely in complicated room are enough to make to solve this room map, cause getting back to room starting point.
Take turns firefighting robot in the stability finding walking navigation in burning things which may cause a fire disaster process to improve six, the present invention adds the acceierometer sensor A1 of three axles in firefighting robot servo hardware system.During firefighting robot walking room, whole process opens the acceleration that acceierometer sensor A1, acceierometer sensor A1 are used for measuring firefighting robot three working direction.Controller utilizes anomalous integral quadratic integral to be similar to according to the acceleration signal of the accelerometer recorded and obtains its angular velocity of rotation and angle.When the attitude of firefighting robot change exceed setting threshold values time, at a new sampling period controller just immediately to its position compensation, avoid firefighting robot to depart from center far away and occur hitting the generation of wall phenomenon, improve the stability of its quick walking navigation.
In order to improve the stability that six take turns firefighting robot MPU Controlled All Digital Servo System further, prevent firefighting robot from skidding when walking at a high speed and cause firefighting robot room information mistake, the present invention adds DC micromotor M in firefighting robot servo hardware system, in firefighting robot motion process, direct current generator M does not stop to aspirate the air in micro vacuum sucker by vacuum suction apparatus, make the external and internal pressure of micro vacuum sucker different, produce certain negative pressure, it is made to produce certain adsorptive power to room floors, even if the destruction that room floor receives one group of player creates certain change, firefighting robot also can not be affected, effectively prevent the ground of firefighting robot when walking at a high speed to skid.
In order to burning things which may cause a fire disaster letter can be gathered accurately, there is provided correct burning things which may cause a fire disaster information number for firefighting robot and extinguish burning things which may cause a fire disaster, the present invention gathers on basis at common photoelectricity, add the image capturing system based on CCD, if common photoelectric sensor has collected burning things which may cause a fire disaster signal, image capturing system opened by controller, and then to control two DC brushless motor direction of motion contrary for controller, original place rotates an angle, makes image capturing system can gather burning things which may cause a fire disaster information accurately; After burning things which may cause a fire disaster information is determined, controller controls an other lifting direct current generator E according to image taking results and works, and according to the highly automated rising of burning things which may cause a fire disaster or the height reducing dry-ice fire extinguisher, makes dry ice spraying altitude just aim at fire's point of origin.
The present invention overcomes single-chip microcomputer can not meet the stability of two-wheeled firefighting robot walking and the requirement of rapidity, give up the mode of operation based on Single-chip Controlling two-wheeled that domestic self-extinguishing machine people adopts, under the prerequisite absorbing external Dynamic matrix control thought, the brand-new six wheel drive control models based on STM32F407 are independently invented.Control panel take STM32F407 as process core, and the eight axle mixing servocontrol digital signals realizing six axle DC brushless motors and diaxon direct current generator process in real time, and respond various interruption, realize the real-time storage of data-signal.
For reaching above-mentioned purpose, the present invention takes following technical scheme, in order to improve arithmetic speed, stability and the reliability of firefighting robot system are taken turns in guarantee six, the present invention introduces vacuum suction technology in based on the controller of STM32F407 to be increased firefighting robot and prevents from skidding with local friction factor, introduce acceierometer sensor simultaneously and secondary attitude correction is carried out to firefighting robot, in order to effectively find burning things which may cause a fire disaster and fire extinguishing, system introduces image capturing system, and by adjustment with burning things which may cause a fire disaster between angle and highly effectively put out a fire.This controller takes into full account the effect of battery in this system, STM32F407 process is given eight maximum for workload in control system axle servo-drive systems, give full play to the comparatively faster feature of STM32F407 data processing speed, thus realize the functions such as firefighting robot man-machine interface, room reading, room storage, coordinate setting, I/O control, image acquisition fast.
Under power-on state, firefighting robot is introduced into self-locking state.Firefighting robot is by ultrasonic sensor S1, S6 judges forward environment, and actual navigational environment is converted into controling parameters and is transferred to STM32F407, and STM32F407 is converted into firefighting robot DC brushless motor X under assigned direction these environmental parameters, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U, the distance that DC brushless motor W will run, speed and acceleration parameter command value, then STM32F407 generates control DC brushless motor X in conjunction with the feedback of current sensor C1-C6 and photoelectric encoder, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U, the six road pwm control signals of DC brushless motor W, control signal amplifies rear drive DC brushless motor X through drive axle, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U, DC brushless motor W travels forward, the signal feedback of STM32F407 real time record acceierometer sensor A1 and photoelectric encoder, and when firefighting robot deviation position, microprocessor is according to the attitude of these signal secondary correction firefighting robots.Firefighting robot is in motion process, STM32F407 regulates vacuum plant to the adsorptive power on ground by direct current generator M according to firefighting robot movement velocity automatically, increase effectively friction, prevent firefighting robot to walk fast skidding, and store room information in real time, and according to real power demand, be switched in real time two to drive, 4 wheel driven or six drives state.After controller finds burning things which may cause a fire disaster, image capturing system is opened.Controller is under image acquisition helps, the angle of automatic adjustment fire extinguisher nozzle and burning things which may cause a fire disaster, be elevated the height that direct current generator E regulates flame snuffer automatically simultaneously, then the dry-ice fire extinguisher solenoid valve on firefighting robot is automatically opened, by spraying dry ice fire extinguishing, after fire extinguishing, controller recalls the room information that firefighting robot has stored immediately, finds out return shortest path by Flood Fill algorithm, and firefighting robot is also opened six and taken turns aero mode and get back to rapidly starting point and wait for that bar seeks burning things which may cause a fire disaster order.
With reference to Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, its concrete functional realiey is as follows:
1) opening power moment, STM32F407 can detect cell voltage, if low pressure, STM32F407 will block DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U, the six road PWM wave control signals of DC brushless motor W, DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U, DC brushless motor W can not start, voltage sensor V1 is by work simultaneously, and send alerting signal, if system voltage is normal, first controller opens the direct current generator M of vacuum draw, first micro vacuum sucker is aspirated by aspirator, make vacuum cup over the ground mask have certain absorption affinity, controller also detects in real time, if ground is unclean, system can regulate direct current generator M to strengthen vacuum cup to the absorption affinity on ground automatically,
2) before firefighting robot does not receive the order of search burning things which may cause a fire disaster, its generally can wait at starting point coordinate (0,0) seek command that controller send, once after receiving task, can start to carry out the exploration of full palace to find burning things which may cause a fire disaster along starting point;
3) firefighting robot is placed on starting point coordinate (0, 0), generally, firefighting robot is placed according to the direction (computer programming code is 0) in north in Fig. 6, receive the ultrasonic sensor S1 in its front after task, S6 and judging the environment in front, define and do not have barricade to enter range of movement, memory command will be sent to STM32F407 as there is barricade, STM32F407 can do very first time response to interruption, then forbid that the PWM wave control signal of front and back four-wheel DC brushless motor exports, and enable in drive the PWM wave control signal of two-way, two the DC brushless motor X driven in control rotate forward and DC brushless motor Y reverses, four the DC brushless motor Z driven before and after release, DC brushless motor R, DC brushless motor U and DC brushless motor W, firefighting robot 90-degree rotation to the right under the control of acceleration transducer A1, firefighting robot is first along the X-axis forward (direction in east, computer programming code is 2) search burning things which may cause a fire disaster,
4) in firefighting robot motion process, be contained in DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U, DC brushless motor W, direct current generator M, photoelectric encoder on direct current generator E can export its position signalling A and position signalling B and feed back to STM32F407, position signalling A pulse and the B pulsed logic state of photoelectric encoder often change once, the location register of STM32F407 can according to DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U, DC brushless motor W, direct current generator M, the traffic direction of direct current generator E adds 1 or subtract 1,
5) in firefighting robot motion process, be contained in DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U, DC brushless motor W, direct current generator M, when the position signalling A pulse of the photoelectric encoder on direct current generator E and B pulse and Z pulse are low level simultaneously, just produce an INDEX signal to STM32F407 register, record DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U, DC brushless motor W, direct current generator M, the absolute position of direct current generator E, then firefighting robot particular location is in a room converted into,
6) in order to firefighting robot coordinate computing function accurately can be realized, ultrasonic sensor S2 about firefighting robot, S3 and ultrasonic sensor S4, S5 can detect the room barricade about direction of motion and pillar in the moment, if ultrasonic sensor S2, S3 or ultrasonic sensor S4, S5 finds that sensor signal there occurs transition, then illustrate that firefighting robot enters from having room barricade to the change without room barricade (or from without room barricade to there being room barricade) state, STM32F407 can according to firefighting robot current operating conditions fine compensation, the error that thorough elimination firefighting robot has added up when seeking burning things which may cause a fire disaster in complicated room,
7) travel forward along any one direction at firefighting robot, if determine do not have barricade to enter the range of movement in front in any one side's center of a lattice, then firefighting robot will store its coordinate (X, Y), and give STM32F407 the location parameter of the lattice that travel forward, STM32F407 is according to the feedback of searching controller speed and acceleration requirement and photoelectric encoder, formation speed-time motion ladder diagram, this trapezoidal area comprised is exactly firefighting robot DC brushless motor X, DC brushless motor Y, DC brushless motor Z, the lattice distance that DC brushless motor R will run, STM32F407 generates the PWM wave control signal of driving four axle DC brushless motor according to this ladder diagram, then the enable driving chip of STM32F407 drives four independent direct current brushless electric machine X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R travels forward, along in current room lattice explored going forward process, ultrasonic sensor S2, S3 and S4, S5 can judge the barricade of left and right, and record stores current search room barricade information, firefighting robot enters single wall navigation mode or two wall navigation mode according to the room information of working direction left and right barricade, and then combine the left and right barricade navigation threshold values of setting, acceierometer sensor A1 records the real-time acceleration signal of firefighting robot and gives controller, controller obtains instantaneous angular velocity and angle respectively by anomalous integral quadratic integral, the instantaneous acceleration of record firefighting robot, speed and positional information, when firefighting robot rapid discovery has departed from setting center, microprocessor starts to carry out real-Time Compensation by accelerometer sensor A1 according to the deviation leaving center, the PWM ripple input of fine setting DC brushless motor, can the attitude of accurate adjustment firefighting robot by this mode, it is made to come back to setting center, if firefighting robot is searched in burning things which may cause a fire disaster process occur stall or the more situation of room floors dust, direct current generator M can be regulated to strengthen the friction on firefighting robot and ground for STM32F407 and six of enable front middle rear-guard take turns PWM wave control signal, DC brushless motor X opened by controller, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U and DC brushless motor W, system enters six wheel drive states, STM32F407 is according to time and rate request, remaining distance D is converted into the PWM ripple of six axle DC brushless motors, make DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U advances with identical speed with DC brushless motor W, firefighting robot still advances according to original navigation mode under driving state six, the transient motion acceleration of acceierometer sensor A1 real time record firefighting robot, its speed and position signalling is obtained by anomalous integral quadratic integral, when firefighting robot six take turns exploration departed from setting center time, microprocessor starts to carry out real-Time Compensation by acceierometer sensor A1 according to the deviation leaving center, finely tune the PWM ripple input of six axle DC brushless motors, can the attitude of accurate adjustment firefighting robot by this mode, it is made to come back to setting center, when a lattice distance of moving under the control of firefighting robot at acceierometer sensor A1 arrives new address, microprocessor will upgrade its coordinate information,
If the direction when coordinate (X, Y) is north, be (X, Y+1) at its coordinate of renewal, new coordinate direction is still north; If the direction when coordinate (X, Y) is east, be (X+1, Y) at its coordinate of renewal, new coordinate direction is still east; If the direction when coordinate (X, Y) is south, be (X, Y-1) at its coordinate of renewal, new coordinate direction is still south; If the direction when coordinate (X, Y) is west, be (X-1, Y) at its coordinate of renewal, new coordinate direction is still west;
8) if judge that front has barricade to enter range of movement at firefighting robot along ultrasonic sensor S1 and S6 in the forward movement of current direction, and now ultrasonic sensor S2, S3, S4, when having barricade about S5 judges respectively, firefighting robot will store now coordinate (X, Y), the location parameter YS1 travelling forward and stop is calculated according to the feedback of ultrasonic sensor S1 and S6, formation speed-time motion ladder diagram is required according to exploration controller speed and acceleration by STM32F407, this trapezoidal area comprised is exactly the distance Y1 that firefighting robot six DC brushless motors will stop, STM32F407 feeds back in conjunction with photoelectric encoder and current sensor C1-C6 the PWM wave control signal generating driving six axle DC brushless motor again according to this ladder diagram, then the enable driving chip of STM32F407 drives six independent direct current brushless electric machine X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U and DC brushless motor W travels forward, controller realizes six and takes turns synchronous deceleration regime.In docking process forward, sensor S2, S3, S4, S5 judges the barricade of left and right in real time, and feed back current room barricade information, firefighting robot enters two wall navigation mode, and then combine the left and right barricade navigation threshold values of setting, acceierometer sensor A1 records the real-time acceleration signal of firefighting robot and gives controller, controller obtains instantaneous angular velocity and angle respectively by anomalous integral quadratic integral, the instantaneous acceleration of record firefighting robot, speed and positional information, when firefighting robot rapid discovery has departed from setting center, microprocessor starts to carry out real-Time Compensation by accelerometer sensor A1 according to the deviation leaving center, finely tune the PWM ripple input of six axle DC brushless motors, can the attitude of accurate adjustment firefighting robot by this mode, it is made to come back to setting center, firefighting robot realizes arranging stop parking, the DC brushless motor PWM ripple driving four tunnels before and after STM32F407 forbids exports, the two-way DC brushless motor PWM ripple driven in simultaneously enable exports, adjustment firefighting robot DC brushless motor X, the PWM ripple of DC brushless motor Y exports, make two non-brush permanent-magnet DC motor direction of motion contrary, firefighting robot original place realizes 180 degree, accurate original place and turns under the control of accelerometer sensor A1, then firefighting robot moves along originally contrary direction,
If the direction when coordinate (X, Y) is north, then upgrade its coordinate for (X, Y), new coordinate direction is south; If the direction when coordinate (X, Y) is east, then upgrade its coordinate for (X1, Y), new coordinate direction is west; If the direction when coordinate (X, Y) is south, then upgrade its coordinate for (X, Y), new coordinate direction is north; If the direction when coordinate (X, Y) is west, then upgrade its coordinate for (X, Y), new coordinate direction is east;
9) if having barricade to enter the range of movement in front at firefighting robot in the forward movement of current direction, and now ultrasonic sensor S2 and S3 of left and right judges that there is barricade on the left side, and ultrasonic sensor S4, S5 are when judging that right does not have a barricade, firefighting robot will store now coordinate (X, Y), then firefighting robot by the curved path walking according to Fig. 7;
When turning right, first STM32F407 requires formation speed-time motion ladder diagram, the distance that this trapezoidal area comprised is exactly firefighting robot four DC brushless motor X, DC brushless motor Y, four DC brushless motor Z, DC brushless motor R will move distance R90_Leading very short for walking straight line according to the different search speed of controller and acceleration.STM32F407 generates the PWM ripple of driving four axle DC brushless motor again in conjunction with photoelectric encoder and current of electric feedback according to this ladder diagram, then the enable driving chip of STM32F407 drives four independent direct current brushless electric machine X, DC brushless motor Y, four DC brushless motor Z, DC brushless motor R travels forward, in forward movement, ultrasonic sensor S2, S3 judges the barricade of left and right in real time, and feed back current room barricade information, firefighting robot enters Dan Zuoqiang navigation mode, and then combine the left barricade navigation threshold values of setting, acceierometer sensor A1 records the real-time acceleration signal of firefighting robot and gives controller, controller obtains instantaneous angular velocity and angle respectively by anomalous integral quadratic integral, the instantaneous acceleration of record firefighting robot, speed and positional information, when firefighting robot rapid discovery has departed from setting center, microprocessor starts to carry out real-Time Compensation by accelerometer sensor A1 according to the deviation leaving center, the PWM ripple input of fine setting four DC brushless motors, can the attitude of accurate adjustment firefighting robot by this mode, it is made to come back to setting center, if there is stall or the more situation of room floors dust in the correction position stage in firefighting robot, STM32F407 can regulate direct current generator M to strengthen the friction on firefighting robot and ground and the four-wheel PWM wave control signal that drives of enable front and back, DC brushless motor X opened by controller, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U and DC brushless motor W, system enters six wheel drive states, STM32F407 is according to time and rate request, remaining distance D is converted into the PWM wave control signal of six axle DC brushless motors, make DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U advances with identical speed with DC brushless motor W, firefighting robot still advances according to original left barricade navigation mode under driving state six, the transient motion acceleration of acceierometer sensor A1 real time record firefighting robot, its speed and position signalling is obtained by anomalous integral quadratic integral, when firefighting robot six take turns exploration departed from setting center time, microprocessor starts to carry out real-Time Compensation by acceierometer sensor A1 according to the deviation leaving center, finely tune the PWM ripple input of six axle DC brushless motors, can the attitude of accurate adjustment firefighting robot by this mode, it is made to come back to setting center,
When arriving set objective, sensor reference value R90_FrontWallRef starts working, prevent external interference from starting to do error compensation, error compensation terminates the PWM wave control signal work that the DC brushless motor of front and back four-wheel forbidden by rear controller, and enable in the PWM wave control signal of two-wheeled brush DC direct current generator that drives, controller adjustment DC brushless motor X and DC brushless motor Y speed make it complete the curve movement of radian ARC, first STM32F407 requires formation speed-time motion ladder diagram radian ARC according to the different search speed of controller and acceleration, this trapezoidal area comprised is exactly the distance that firefighting robot DC brushless motor X and DC brushless motor Y will move, then STM32F407 is again in conjunction with photoelectric encoder and current sensor C1, the feedback of C2 generates the PWM ripple driving DC brushless motor motion, PWM ripple is promoted firefighting robot after being amplified by drive axle and completes search of turning, in firefighting robot turning search process, ultrasonic sensor S2, S3, S4, S5 cannot provide reference by location for system, system relies on acceierometer sensor A1 to carry out position correction, its instantaneous acceleration of acceierometer sensor A1 real time record in firefighting robot fast searching turning process, then controller obtains its speed and positional information by anomalous integral quadratic integral, and by the speed and angle contrast with desired location, when firefighting robot fast searching has departed from desired location, within the new sampling period, system is according to the PWM ripple input of deviation size fine setting DC brushless motor X and DC brushless motor Y, diaxon servo-drive system starts to carry out real-Time Compensation to adjust the attitude of firefighting robot, it is made to complete radian ARC,
When after arrival set objective, system relies on ultrasonic sensor S2, S3 starts navigation, controller requires formation speed-time motion ladder diagram distance R90_Passing very short for straight line moving according to the different search speed of controller and acceleration, this trapezoidal area comprised is exactly firefighting robot four DC brushless motor X, DC brushless motor Y, four DC brushless motor Z, the distance that DC brushless motor R will move, STM32F407 generates the PWM ripple of driving four axle DC brushless motor again in conjunction with photoelectric encoder and current of electric feedback according to this ladder diagram, then the enable driving chip of STM32F407 drives four independent direct current brushless electric machine X, DC brushless motor Y, four DC brushless motor Z, DC brushless motor R travels forward, in forward movement, ultrasonic sensor S2, S3 judges left barricade in real time, and feed back current room barricade information, firefighting robot enters Dan Zuoqiang navigation mode, and then combine the left barricade navigation threshold values of setting, acceierometer sensor A1 records the real-time acceleration signal of firefighting robot and gives controller, controller obtains instantaneous angular velocity and angle respectively by anomalous integral quadratic integral, the instantaneous acceleration of record firefighting robot, speed and positional information, when firefighting robot rapid discovery has departed from setting center, microprocessor starts to carry out real-Time Compensation by accelerometer sensor A1 according to the deviation leaving center, the PWM ripple input of fine setting four DC brushless motors, can the attitude of accurate adjustment firefighting robot by this mode, it is made to come back to setting center, if there is stall or the more situation of room floors dust in the correction position stage in firefighting robot, STM32F407 can regulate direct current generator M to strengthen the friction on firefighting robot and ground and the four-wheel PWM wave control signal that drives of enable front and back, DC brushless motor X opened by controller, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U and DC brushless motor W, system enters six wheel drive states, STM32F407 is according to time and rate request, remaining distance D is converted into the PWM ripple of six axle DC brushless motors, make DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U advances with identical speed with DC brushless motor W, firefighting robot still advances according to original left barricade navigation mode under driving state six, the transient motion acceleration of acceierometer sensor A1 real time record firefighting robot, its speed and position signalling is obtained by anomalous integral quadratic integral, when firefighting robot six take turns exploration departed from setting center time, microprocessor starts to carry out real-Time Compensation by acceierometer sensor A1 according to the deviation leaving center, finely tune the PWM ripple input of six axle DC brushless motors, can the attitude of accurate adjustment firefighting robot by this mode, it is made to come back to setting center, after arriving set objective, complete the geometric locus motion of whole right-hand bend, then control it and start to upgrade its coordinate and direction,
If the direction when coordinate (X, Y) is north, then upgrade its coordinate for (X+1, Y), new coordinate direction is east; If the direction when coordinate (X, Y) is east, then upgrade its coordinate for (X, Y-1), new coordinate direction is south; If the direction when coordinate (X, Y) is south, then upgrade its coordinate for (X-1, Y), new coordinate direction is west; If the direction when coordinate (X, Y) is west, then upgrade its coordinate for (X, Y+1), new coordinate direction is north;
10) if having barricade to enter the range of movement in front at firefighting robot in the forward movement of current direction, and now ultrasonic sensor S2 and S3 of left and right judges that the left side is without barricade, and ultrasonic sensor S4, S5 are when judging that there is a barricade right, firefighting robot will store now coordinate (X, Y), then firefighting robot by the curved path walking according to Fig. 8;
When turning left, it is similar with right-hand rotation that controller controls motor walking rule, and after arriving set objective by three-stage process, complete the geometric locus motion of whole left-hand bend, controller starts to upgrade its coordinate and direction according to arranging of Fig. 6;
If the direction when coordinate (X, Y) is north, then upgrade its coordinate for (X-1, Y), new coordinate direction is west; If the direction when coordinate (X, Y) is east, then upgrade its coordinate for (X, Y+1), new coordinate direction is north; If the direction when coordinate (X, Y) is south, then upgrade its coordinate for (X+1, Y), new coordinate direction is east; If the direction when coordinate (X, Y) is west, then upgrade its coordinate for (X, Y-1), new coordinate direction is south;
11) after firefighting robot arrives new room lattice, photoelectric sensor S7 starts working, light source under new coordinate is judged, if photoelectric sensor S7 captures signal will notify that STM32F407 finds target, STM32F407 can open image capturing system and carry out light source analysis, after determining that burning things which may cause a fire disaster is errorless, image capturing system is task again: first controller is according to the angle between image capturing system determination dry-ice fire extinguisher nozzle spray direction and candle, first STM32F407 forbids the PWM wave control signal work of front and back Qu tetra-road, according to the anglec of rotation, angular acceleration requirement, this angle is converted into the angle of DC brushless motor X and DC brushless motor Y, angular velocity, angular acceleration command value, and then in conjunction with current sensor C1, the feedback of C2 and photoelectric encoder, the PWM wave control signal of automatic adjustment DC brushless motor X and DC brushless motor Y, DC brushless motor X is rotated forward, DC brushless motor Y reverses, under acceierometer sensor A1 controls, firefighting robot starts the angle between original place rotation adjustment nozzle and candle, when after arrival set angle, controller makes the self-locking of firefighting robot original place,
STM32F407 is again according to the difference in height between image capturing system determination fire extinguisher nozzle and burning things which may cause a fire disaster, STM32F407 is according to distance, speed, acceleration requirement, this difference in height is converted into the position of direct current generator E, speed, acceleration command value, then STM32F407 is again in conjunction with the electric current of direct current generator E and the feedback of photoelectric encoder, the PWM wave control signal of automatic adjustment direct current generator E, drive direct current generator E work, make the nozzle height of flame snuffer consistent with candle burning things which may cause a fire disaster height, the solenoid valve of the dry-ice fire extinguisher carried opened by controller, start to carry out sprinkling dry ice to candle until light source disappears, image capturing system secondary judges burning things which may cause a fire disaster, after determining that fire extinguishing completes, controller cuts out image capturing system, STM32F407 adjusts the PWM wave control signal of DC brushless motor X and motor Y automatically, DC brushless motor X is reversed, DC brushless motor Y rotates forward, and under acceierometer sensor A1 controls, firefighting robot starts original place rotation, and returns to the position just entering palace,
If photoelectric sensor S7 does not capture the light source under new coordinate, firefighting robot will leave current room lattice, burning things which may cause a fire disaster be searched in continuation and upgrade its position coordinates;
12) when firefighting robot searches out light source, and spray after dry ice completes fire extinguishing, firefighting robot can be parked in impact point, then controller recalls the path that firefighting robot has been searched for, and give up the target of not searching, found out the optimal path searching room by Flood Fill algorithm, then firefighting robot gets back to search starting point fast according to this path, STM32F407 according to the servocontrol of the speed self-regulation motor M of firefighting robot, can change vacuum cup to the adsorptive power on ground automatically;
13) search in burning things which may cause a fire disaster process at firefighting robot in room, controller can to high-speed DC brushless electric machine X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U, DC brushless motor W, direct current generator M, on-line identification is carried out in the torque of direct current generator E, due to system employing is three Close loop servo control, if there is pulsation in torque, controller can utilize the relation of direct current generator moment and electric current to carry out linear compensation to interference, effectively reduce motor torque shake to the impact of navigating during firefighting robot rapid discovery, add its antijamming capability,
14) starting point (0 is got back to when firefighting robot completes whole return trip, 0), STM32F407 will control firefighting robot central point and stop, and readjust the level of driving power bridge, make DC brushless motor X and DC brushless motor Y with the motion of contrary direction, firefighting robot is under the control of acceierometer sensor A1, and turnback is revolved in original place, then original place self-locking, waits for that next searches burning things which may cause a fire disaster order.
The beneficial effect that the present invention has is:
1: in motion process, take into full account battery effect in this system, all the running status of firefighting robot is being monitored and computing based on the STM32F407 controller moment, and in the process of cell powers, the electric current of current sensor C1-C8 moment to battery is observed and gives controller protection, avoid the generation of big current, so fundamentally solve the impact of big current to lithium ion battery, avoid the generation of the lithium ion battery overaging phenomenon caused due to heavy-current discharge;
2: instead of stepper motor with DC brushless motor, motor mechanical is rubbed, and without wearing and tearing, without electric spark, and non-maintaining, and the efficiency of DC brushless motor is high, power and torque density high, make the efficiency of system higher;
3: the servocontrol of the direct current generator E be elevated by six DC brushless motor X, the DC brushless motor Y of STM32F407 process firefighting robot, DC brushless motor Z, DC brushless motor R, DC brushless motor U, DC brushless motor W, single shaft absorption and control direct current generator M, flame snuffer, make control fairly simple, substantially increase arithmetic speed, solve scm software and run slower bottleneck;
4: the present invention realizes full SMD components material substantially, in order to increase the processing speed of system, system adopts two panels STM32F407 to realize various algorithm, therebetween real-time communication, achieve veneer to control, not only save control panel to take up room, and be conducive to alleviating of firefighting robot volume and weight;
5: owing to adopting DC brushless motor, make speed adjustable range wider, contrast of regulating speed is steady;
6: because this controller adopts two panels STM32F407 process six axle DC brushless motor and diaxon direct current generator to mix a large amount of data of servo and algorithm, effectively prevent " race flies " of program, antijamming capability strengthens greatly;
7: in firefighting robot actual motion process, STM32F407 can adjust the pid parameter of inner three Close loop servo control in good time according to the peripheral ruuning situation of firefighting robot, realize segmentation P, PD, PID to control and nonlinear PID controller, make system meet the switching of middle slow running hourly velocity;
8, the acceierometer sensor A1 of three axles is introduced at this firefighting robot system, the angular velocity and angle information that obtain firefighting robot can be similar to by anomalous integral quadratic integral, achieve the indirect detection of instantaneous velocity when firefighting robot is explored in room, angle, and utilize feedback to realize omnidistance navigation and second compensation, be conducive to the stability and the dynamic property that improve firefighting robot;
9: in firefighting robot operational process, STM32F407 can carry out on-line identification to the torque of high-speed DC brushless electric machine X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U, DC brushless motor W, direct current generator M, direct current generator E and utilize the relation of motor torque and electric current to compensate, and decreases burning things which may cause a fire disaster is sought in motor torque shake fast impact on firefighting robot;
10:STM32F407 can effectively regulate vacuum cup to the adsorptive power on ground by regulating direct current generator M, eliminates the generation of firefighting robot skidding when searching at a high speed burning things which may cause a fire disaster;
11: need to realize timesharing according to firefighting robot search power and drive more.When normal search, because required power is less, firefighting robot generally can adopt four-wheel before and after release, adopts the mode of the two-wheel drive of mid-power; And raise speed a little once run into, STM32407 automatically can detect to exist side by side and distribute to rearmounted two power-assisted DC brushless motors by firefighting robot demand torque, the servocontrol of direct current generator M is changed with Time Controller, drive+four-wheel drive the state of rear-guard during firefighting robot system is switched to naturally, enhance the reliability during search of firefighting robot; And once run into, road dust is more or firefighting robot speed is higher, STM32407 automatically can detect to exist side by side and distribute to front and rear four power-assisted DC brushless motors by firefighting robot demand torque, the servocontrol of direct current generator M is changed with Time Controller, firefighting robot system be naturally switched to forerunner+in drive+six wheel drive states of rear-guard, further enhancing the reliability during search of firefighting robot;
12: due to adopt forerunner+in drive+compound six wheel-drive mode of rear-guard, when needs acceleration seek or return to origin time, controller is assigned to six DC brushless motors power, once power wheel because ground, physical construction etc. cause ground away from keyboard, STM32407 can redistribute moment of torsion, more torque distribution on the driving wheel of non-stall, system is made to hightail non-steady state, come back to six axle dynamic equilibrium states, firefighting robot is had and better seeks walking function;
12: when firefighting robot turns to, in order to ensure the stability rotated, adopting two mid-DC brushless motors to realize searching turning, and discharging four power-assisted DC brushless motors of front and rear;
14: adding of image acquisition effectively can catch burning things which may cause a fire disaster, reduce external interference to the maloperation of robot;
15: regulate the direction of motion of DC brushless motor X and DC brushless motor Y contrary, the angle of firefighting robot rotation can be obtained by integrating accelerometer sensors A 1, the flame snuffer that robot is carried and burning things which may cause a fire disaster are in a straight line, and effectively can extinguish burning things which may cause a fire disaster;
16: the height that can be adjusted flame snuffer by the servocontrol of adjustment motor E, is made fire extinguisher nozzle consistent with fire's point of origin height, be conducive to effectively putting out burning things which may cause a fire disaster.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize description of the present invention to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (7)
1. six take turns a monokaryon full-automatic low speed firefighting robot servo controller, it is characterized in that, comprise battery, processor, DC brushless motor X, DC brushless motor Y, DC brushless motor Z, direct current generator M, DC brushless motor R, DC brushless motor U, DC brushless motor W, direct current generator E and firefighting robot, described battery provides separately the processor described in electric current driving, and described processor adopts STM32F407, and described processor sends the first control signal respectively, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal and the 7th control signal, by the first described control signal, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal, 7th control signal and the 8th control signal, by the first described control signal, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal and the 7th control signal, by the first described control signal, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal, 7th control signal and the 8th control signal control described DC brushless motor X respectively, DC brushless motor Y, DC brushless motor Z, direct current generator M, DC brushless motor R, DC brushless motor U, control the motion of firefighting robot after the signal syntheses of DC brushless motor W and direct current generator E again, also comprise image acquisition units, described processor is connected with image acquisition units communication.
2. according to claim 1 six take turns monokaryon full-automatic low speed firefighting robot servo controller, it is characterized in that, described battery adopts lithium ion battery.
3. according to claim 1 six take turns monokaryon full-automatic low speed firefighting robot servo controller, it is characterized in that, the first described control signal, the second control signal, the 3rd control signal, the 4th control signal, the 5th control signal, the 6th control signal, the 7th control signal and the 8th control signal are PWM wave control signal.
4. according to claim 1 six take turns monokaryon full-automatic low speed firefighting robot servo controller, it is characterized in that, the inside of described processor is also provided with master system and kinetic control system, described master system comprises room and explores module, room storage module, path read module, human-computer interface module and online output module, described kinetic control system comprises eight axle mixing servo control module, coordinate setting module, I/O control module and image capture module, wherein, eight described axle mixing servo control module comprise six axle DC brushless motor firefighting robots and search servo control module, single axle vacuum sucker suction servo control module and flame snuffer single shaft lift servo control module.
5. according to claim 1 six take turns monokaryon full-automatic low speed firefighting robot servo controller, it is characterized in that, described six take turns firefighting robot servo controller also comprises ultrasonic sensor, current sensor, photoelectric sensor, voltage sensor and acceierometer sensor, and described ultrasonic sensor, current sensor, photoelectric sensor, voltage sensor and acceierometer sensor are all connected with processor communication.
6. according to claim 5 six take turns monokaryon full-automatic low speed firefighting robot servo controller, it is characterized in that, the quantity of described ultrasonic sensor is 6, the quantity of current sensor is 8, the quantity of photoelectric sensor, voltage sensor and acceierometer sensor is 1.
7. according to claim 1 six take turns monokaryon full-automatic low speed firefighting robot servo controller, it is characterized in that, described six take turns firefighting robot servo controller also comprises photoelectric encoder, and described photoelectric encoder is arranged on DC brushless motor X, DC brushless motor Y, DC brushless motor Z, direct current generator M, DC brushless motor R, DC brushless motor U, DC brushless motor W and direct current generator E respectively.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105892470A (en) * | 2016-07-01 | 2016-08-24 | 江苏若博机器人科技有限公司 | Single-core three-shaft and four-wheel variable-structure picomouse fully-digital servo system controller |
| CN105929833A (en) * | 2016-07-01 | 2016-09-07 | 江苏若博机器人科技有限公司 | Picomouse spurt controller with single-core triaxial four-wheel variable structure |
| CN106074041A (en) * | 2016-07-28 | 2016-11-09 | 江苏若博机器人科技有限公司 | A kind of wireless monokaryon single wheel drive multifunctional motor-driven sick bed |
| CN110134081A (en) * | 2019-04-08 | 2019-08-16 | 华东计算技术研究所（中国电子科技集团公司第三十二研究所） | Control system based on robot capability model |
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