CN105169610A - Dual-core servo control system based on two-wheeled high-speed fully automatic fire extinguishing robot - Google Patents

Dual-core servo control system based on two-wheeled high-speed fully automatic fire extinguishing robot Download PDF

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CN105169610A
CN105169610A CN201510520039.0A CN201510520039A CN105169610A CN 105169610 A CN105169610 A CN 105169610A CN 201510520039 A CN201510520039 A CN 201510520039A CN 105169610 A CN105169610 A CN 105169610A
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control
firefighting robot
sensor
core
double
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张好明
杨锐敏
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TONGLING UNIVERSITY
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TONGLING UNIVERSITY
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Abstract

The invention discloses a dual-core servo control system based on a two-wheeled high-speed fully automatic fire extinguishing robot. The dual-core servo control system based on the two-wheeled high-speed fully automatic fire extinguishing robot comprises a dual-core control unit, a voltage transducer, a battery, a moving motor, a triaxial accelerometer sensor, a gyro, a direction sensor, a uniaxial adsorption control direct current motor, a lifting direct current motor, an image sensor and ultrasonic sensor units. In this way, by means of the dual-core servo control system based on the two-wheeled high-speed fully automatic fire extinguishing robot, the computing efficiency of the robot is greatly improved by using STM32F407+field programmable gate array (FPGA) dual-core controllers; meanwhile, a uniaxial vacuum adsorption device is used for achieving the skid resistance effect of the fire extinguishing robot, so that the action speed of the fire extinguishing robot is increased, accuracy is also ensured, and the control system of the fire extinguishing robot is more reliable and effective.

Description

Based on the double-core servo-control system of two-wheeled high-speed full-automatic firefighting robot
Technical field
The present invention relates to multi-axis robot field, particularly relate to a kind of double-core servo-control system based on two-wheeled high-speed full-automatic firefighting robot.
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 operation rules 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.Black is all brushed in any gap on place.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 Artificial 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 of other lattice room lattice quickly and accurately from room lattice, 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 is 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 executing agency 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 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.
(4) 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.
(5) owing to disturbing by surrounding environment destabilizing factor, singlechip controller often there will be exception, and cause firefighting robot out of control, antijamming capability is poor.
(6) 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 capability, 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.
(7) 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.
(8) 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.
(9) 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 firefighting robot controller existing, seek a kind of economic and practical can use quick two-wheeled firefighting robot servo-drive system in reality.
Summary of the invention
The technical problem that the present invention mainly solves is to provide a kind of double-core servo-control system based on two-wheeled high-speed full-automatic firefighting robot, there is the advantages such as unfailing performance is high, registration, transposition speed are fast, simultaneously multi-axis robot application and universal on have market prospects widely.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is:
A kind of double-core servo-control system based on two-wheeled high-speed full-automatic firefighting robot is provided, it comprises: double-core control unit, voltage sensor, battery, motion motor, 3-axis acceleration flowmeter sensor, gyroscope, direction sensor, single shaft absorption and control direct current generator, lifting direct current generator, image acquisition device, single axle vacuum adsorbent equipment and 6 ultrasonic sensor units
Described double-core control unit comprises STM32F407 controller and FPGA controller, and described STM32F407 controller is connected with described FPGA controller,
Described lifting direct current generator is provided with dry-ice fire extinguisher, described single shaft absorption and control direct current generator is connected with single axle vacuum adsorbent equipment, described single axle vacuum adsorbent equipment is connected with the vacuum cup for preventing firefighting robot from skidding,
Described ultrasonic sensor units comprises front probe unit, left probe unit and right probe unit,
Described double-core control unit sends PWM wave control signal, and described motion motor, described single shaft absorption and control direct current generator and described lifting direct current generator receive PWM wave control signal one to one respectively,
Described double-core control unit is connected with described direction sensor, described single shaft absorption and control direct current generator, described lifting direct current generator, described image acquisition device, described ultrasonic sensor units with described battery, described voltage sensor, described motion motor, described 3-axis acceleration flowmeter sensor, described gyroscope respectively.
In a preferred embodiment of the present invention, the inside of described processor is also provided with host computer procedure system and motion control program system, described host computer procedure 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 based on FPGA tetra-axle synchronous direct current mixing servo control module, coordinate setting module, I/O control module and image capture module, described comprising based on FPGA tetra-axle synchronous direct current mixing servo control module searches servo control module based on diaxon DC brushless motor firefighting robot, single axle vacuum sucker suction servo control module and fire extinguisher single shaft lift servo control module.
In a preferred embodiment of the present invention, 2 that also comprise that the DC brushless motor X that is respectively used to control firefighting robot wheel and DC brushless motor Y, described DC brushless motor X and described DC brushless motor Y receive that described double-core control unit sends respectively corresponding PWM wave control signals.
In a preferred embodiment of the present invention, the revolver of firefighting robot is connected with described DC brushless motor X, and right wheel of firefighting robot is connected with described DC brushless motor Y.
In a preferred embodiment of the present invention, also comprise the photoelectric gathering apparatus for gathering burning things which may cause a fire disaster information, described photoelectric gathering apparatus is connected with described double-core control unit.
In a preferred embodiment of the present invention, described front probe unit comprises first sensor and the 6th sensor.
In a preferred embodiment of the present invention, described left probe unit comprises the second sensor and the 3rd sensor.
In a preferred embodiment of the present invention, described right probe unit comprises four-sensor and the 5th sensor.
In a preferred embodiment of the present invention, described battery adopts lithium ion battery.
In a preferred embodiment of the present invention, also comprise the first current sensor and the second current sensor, described double-core control unit is connected with described second current sensor with described first current sensor respectively by motor photoelectric encoder.
The invention has the beneficial effects as follows: by using STM32F407+FPGA dual-core controller, improve the computational efficiency of robot greatly, and utilize single axle vacuum adsorbent equipment to reach firefighting robot skidproof effect, thus accuracy is in turn ensure that while the speed improving fire extinguishing machine human action, make the control system of firefighting robot more effectively reliable.
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 the two-dimensional structure figure based on two-wheeled high-speed full-automatic firefighting robot;
Fig. 4 is the schematic diagram based on STM32F407+FPGA two-wheeled full-automatic fire-extinguishing machine people;
Fig. 5 is the double-core servo-control system block diagram based on two-wheeled high-speed full-automatic firefighting robot;
Fig. 6 is firefighting robot traffic direction schematic diagram;
Fig. 7 is firefighting robot right-hand rotation schematic diagram;
Fig. 8 is firefighting robot left-hand rotation schematic diagram.
Detailed description of the invention
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.
Refer to Fig. 1-8, the embodiment of the present invention comprises:
A kind of double-core servo-control system based on two-wheeled high-speed full-automatic firefighting robot, it comprises: double-core control unit, voltage sensor V1, battery, motion motor, three axis accelerometer sensors A 1, gyroscope G1 and direction sensor D1, single shaft absorption and control direct current generator M, lifting direct current generator E, photoelectric gathering apparatus, image acquisition device and ultrasonic sensor units, described battery have employed battery.
Described double-core control unit comprises STM32 controller and FPGA controller, and described STM32 controller have employed STM32F407 processor, and described STM32 controller is connected with described FPGA controller.
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 the speed of service 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.
FPGA is the abbreviation of English FieldProgrammableGateArray, i.e. field programmable gate array, is the product further developed on the basis of the programming devices such as PAL, GAL, EPLD.It occurs as a kind of semi-custom circuit in special IC (ASIC) field, namely solves the deficiency of custom circuit, overcomes again the shortcoming that original programming device gate circuit number is limited.
FPGA have employed logical cell array LCA(LogicCellArray) such new ideas, inside comprises configurable logic blocks CLB(ConfigurableLogicBlock), export input module IOB(InputOutputBlock) and interconnector (Interconnect) three parts.The basic characteristics of FPGA mainly contain:
1) adopt FPGA ASIC design circuit, user does not need to throw sheet and produces, and just can obtain the chip share.
2) FPGA can do the middle coupons of other full custom or semi-custom ASIC circuit.
3) there are abundant trigger and I/O pin in FPGA inside.
4) FPGA be that in ASIC circuit, the design cycle is the shortest, development cost are minimum, one of the device of least risk.
5) FPGA adopts high speed CHMOS technique, low in energy consumption, can be compatible with CMOS, Transistor-Transistor Logic level.
Can say, fpga chip is one of the optimal selection that small lot system improves level of integrated system, reliability.
These characteristics makes user according to the design needs of oneself, can reconfigure connection, design the special IC of oneself within the shortest time by specific placement-and-routing instrument to its inside, so just reduces cost, shortens the construction cycle.Because FPGA adopts the design philosophy of software implementation to realize the design of hardware circuit, so just make, based on FPGA designed system, there is good reusable and amendment property.This brand-new design philosophy has been applied on high performance direct current generator and alternating current generator drived control gradually, and fast-developing.
For reaching above-mentioned purpose, the present invention takes following technical scheme, in order to improve arithmetic speed, ensure stability and the reliability of two-wheeled firefighting robot system, the present invention has given up Special precision motion control special chip MC58113 and LM629 in based on the controller of STM32F407, and introduce FPGA, form the brand-new dual-core controller based on STM32F407+FPGA.Dual-core controller introduces vacuum suction technology and acceleration transducer, gyroscope and direction sensor simultaneously, improves stability when it is walked and accuracy further.This controller takes into full account the effect of battery in this system, FPGA process is given four maximum for workload in control system axle servo-drive systems, give full play to the comparatively faster feature of FPGA data processing speed, STM32F407 is freed from four axle SERVO CONTROL of complexity, realizes the simple functions such as man-machine interface, room reading, room storage, coordinate setting.
In order to can accurately seek room and find burning things which may cause a fire disaster, the present invention adopts six groups of sensor detection room mode, the firefighting robot two-dimensional structure invented is as shown in Figure 3: sensor S1, S6 acting in conjunction judges front barricade, sensor S2 and S3 coacts and judges the existence of its left side barricade, sensor S4 and S5 coacts and judges the existence of barricade on the right of it, and 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, 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, 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 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 it cannot solve this room map, cause getting back to room starting point.
In order to improve two-wheeled firefighting robot in the stability finding walking navigation in burning things which may cause a fire disaster process, the present invention adds three axis accelerometer sensors A 1, gyroscope G1 and direction sensor D1 in firefighting robot servo hardware system.During firefighting robot walking room, omnidistance acceierometer sensor A1, gyroscope G1 and direction sensor D1, acceierometer sensor A1, gyroscope G1 and the direction sensor D1 of opening is used for measuring the acceleration of firefighting robot three directions of advance, speed and position signalling.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 of firefighting robot MPU Controlled All Digital Servo System, 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, motor M does not stop to aspirate the air in micro vacuum sucker by single axle vacuum adsorbent equipment, make the external and internal pressure of micro vacuum sucker different, produce certain negative pressure, it is made to produce certain adsorption capacity 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 image capturing system, 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 walking servomotor directions of motion contrary for controller, firefighting robot 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 the stability that single-chip microcomputer can not meet the walking of diaxon firefighting robot, the speed of further raising firefighting robot walking, give up the single single-chip microcomputer mode of operation that domestic firefighting robot adopts, under the prerequisite absorbing external Dynamic matrix control thought, independently invent the brand-new control model of two-wheel double-core based on STM32F407+FPGA.Control panel take FPGA as process core, and the servo-controlled data signal of four axles realizing diaxon DC brushless motor and diaxon direct current generator processes in real time, and responds various interruption, realizes the real-time storage of data-signal.Dual-core controller frees STM32F407 in the middle of the work of complexity, realizes the signal transacting simply partly such as room information reading, room storage, I/O control, and responds FPGA interruption, realize data communication therebetween and storage live signal.
Described lifting direct current generator is provided with dry-ice fire extinguisher, described single shaft absorption and control direct current generator is connected with single axle vacuum adsorbent equipment, described single axle vacuum adsorbent equipment is connected with the vacuum cup for preventing firefighting robot from skidding.
Described ultrasonic sensor units comprises front probe unit, left probe unit and right probe unit.Described front probe unit comprises first sensor S1 and the 6th sensor S6, and described left probe unit comprises the second sensor S2 and the 3rd sensor S3, and described right probe unit comprises four-sensor S4 and the 5th sensor S5.
Described double-core control unit is connected with described ultrasonic sensor units with described direction sensor, described single shaft absorption and control direct current generator, described lifting direct current generator, described image acquisition device, described photoelectric gathering apparatus with described battery, described voltage sensor, described motion motor, described 3-axis acceleration flowmeter sensor, described gyroscope respectively.
Also comprise the DC brushless motor X and DC brushless motor Y that are respectively used to control firefighting robot wheel, described DC brushless motor X is all connected with described double-core control unit with described DC brushless motor Y, the revolver of firefighting robot is connected with described DC brushless motor X, and right wheel of firefighting robot is connected with described DC brushless motor Y.
Also comprise the first current sensor C1 and the second current sensor C2, described double-core control unit is connected with described second current sensor with described first current sensor respectively by motor photoelectric encoder.
Concrete implementation step based on the double-core servo-control system of two-wheeled high-speed full-automatic firefighting robot is:
For the STM32F407+FPGA controller designed herein, under power-on state, firefighting robot is introduced into self-locking state.First controller opens vacuum draw motor M, by aspirator first to micro vacuum sucker suction, make vacuum cup over the ground mask have certain adsorption capacity.Firefighting robot is by ultrasonic sensor S1, S6 judges forward environment, actual navigational environment is converted into controling parameters and is transferred to FPGA, FPGA is converted into these ambient parameters the position that firefighting robot DC brushless motor X and DC brushless motor Y will run, speed and acceleration command value, FPGA recombination current sensor C1, the feedback of C2 and motor photoelectric encoder generates the pwm control signal controlling DC brushless motor X and DC brushless motor Y, control signal is moved before drive axle amplification rear drive DC brushless motor X and DC brushless motor Y-direction, accelerometer A1, gyroscope G1 and direction sensor D1 and photoelectric encoder in real time the signal feedback recorded to FPGA, by the attitude of FPGA secondary correction firefighting robot.Firefighting robot is in motion process, and FPGA regulates vacuum plant to the adsorption capacity on ground by motor M according to firefighting robot movement velocity automatically, increases and effectively rubs, and prevent firefighting robot to walk fast skidding, STM32F407 stores room information in real time.After controller finds burning things which may cause a fire disaster, image capturing system is opened.Controller is under IMAQ helps, the angle of automatic adjustment fire extinguisher nozzle and burning things which may cause a fire disaster, lifting motor E regulates the height of fire extinguisher automatically simultaneously, then automatically dry-ice fire extinguisher magnetic valve is opened, by spraying dry ice fire extinguishing, after fire extinguishing, STM32F407 recalls the room information that firefighting robot has stored immediately, finds out return shortest path by Flood Fill algorithm, and opens aero mode and get back to rapidly starting point and wait for that bar seeks burning things which may cause a fire disaster order.
Concrete functional realiey based on the double-core servo-control system of two-wheeled high-speed full-automatic firefighting robot is as follows:
1) room slippage problems is sought at a high speed to two-wheeled firefighting robot be driven to move and solve, this control system introduces FPGA, the PWM wave control signal that four tunnels control DC brushless motor and direct current generator is produced by it, FPGA enters real-time communication by I/O mouth and STM32F407, controls it turn on and off by STM32F407.
2) opening power moment, STM32F407 can detect cell voltage, if low pressure, FPGA will block the PWM wave control signal of DC brushless motor X and DC brushless motor Y, motor can not start, and voltage sensor V1 is by work simultaneously, and sends alarm signal.If system voltage is normal, FPGA will open the PWM wave control signal of vacuum draw motor M, by aspirator first to the suction of micro vacuum sucker, make vacuum cup over the ground mask have certain adsorption capacity, meet the rate request that firefighting robot seeks burning things which may cause a fire disaster.
3) before firefighting robot does not receive exploration order, its generally can wait at starting point coordinate (0,0) exploration order that controller send, once after receiving task, meeting start to carry out the exploration of full palace to find burning things which may cause a fire disaster along starting point.
4) 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 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 control DC brushless motor X by the output of adjustment FPGA to rotate forward, DC brushless motor Y reverses, firefighting robot is at acceleration transducer A1, 90-degree rotation to the right under the control of gyroscope G1 and direction sensor D1, 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.
5) in firefighting robot motion process, the photoelectric encoder be contained on DC brushless motor X and DC brushless motor Y can export its position signalling A and position signalling B, position signalling A pulse and the B pulsed logic state of photoelectric encoder often change once, and the location register of FPGA can add 1 or subtract 1 according to the traffic direction of DC brushless motor X and DC brushless motor Y;
6) in firefighting robot motion process, when being contained in the position signalling A pulse of the photoelectric encoder on DC brushless motor X and DC brushless motor Y and B pulse and Z pulse simultaneously for low level, just produce an INDEX signal to FPGA register, the absolute position of record motor, is then converted into firefighting robot particular location in a room.
7) in order to firefighting robot coordinate computing function accurately can be realized, sensor S2 about firefighting robot, S3 and S4, S5 can detect the room barricade about the direction of motion and pillar in the moment, if S2, S3 or 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.
8) 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 FPGA the location parameter of the lattice that travel forward, FPGA is the position being converted into firefighting robot DC brushless motor X and DC brushless motor Y to last lattice parameter and will running, speed and acceleration command value, FPGA recombination current sensor C1, the feedback of C2 and motor photoelectric encoder generates the pwm control signal controlling DC brushless motor X and DC brushless motor Y, control signal is moved before drive axle amplification rear drive DC brushless motor X and DC brushless motor Y-direction.At firefighting robot along in current room lattice explored going forward process, 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 direction of advance left and right barricade, and then combine the left and right barricade navigation threshold values of setting, accelerometer A1, gyroscope G1 and direction sensor D1 records the real-time acceleration of firefighting robot, speed and angle signal also give FPGA, FPGA real time record stores the instantaneous acceleration of firefighting robot, speed and positional information, when firefighting robot rapid discovery has departed from setting center, microprocessor is converted into by FPGA the new position that firefighting robot DC brushless motor X and DC brushless motor Y will run according to the deviation leaving center, speed and acceleration command value, FPGA recombination current sensor C1, C2, motor photoelectric encoder, accelerometer sensor A1, the feedback of gyroscope G1 and direction sensor D1, the pwm control signal of fine setting DC brushless motor X and DC brushless motor Y, control signal is moved before drive axle amplification rear drive DC brushless motor X and DC brushless motor Y-direction.Can the attitude of accurate adjustment firefighting robot by this mode, make it come back to setting center.When under the control of accelerometer A1, precise motion one lattice arrive new address to firefighting robot, microprocessor will upgrade its coordinate.
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;
9) if judge that front has barricade to enter range of movement at firefighting robot along sensor S1 and S6 in the forward movement of current direction, and now 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 sensor S1 and S6, according to exploring controller speed and acceleration, stopping distance parameter is forward converted into the position that firefighting robot DC brushless motor X and DC brushless motor Y will run by FPGA, speed and acceleration command value, FPGA recombination current sensor C1, the feedback of C2 and motor photoelectric encoder generates the pwm control signal controlling DC brushless motor X and DC brushless motor Y, control signal is moved before drive axle amplification rear drive DC brushless motor X and DC brushless motor Y-direction.At firefighting robot along in current room lattice explored going forward process, sensor S2, S3 and S4, S5 judges left and right barricade, STM32F407 real time record stores current search room barricade information, firefighting robot enters two wall navigation mode according to the room information of direction of advance left and right barricade, and then combine the left and right barricade navigation threshold values of setting, accelerometer A1, gyroscope G1 and direction sensor D1 records the real-time acceleration of firefighting robot, speed and angle signal also give FPGA, FPGA real time record stores the instantaneous acceleration of firefighting robot, speed and positional information, when firefighting robot stop fast departed from setting center time, microprocessor is converted into by FPGA the new position that firefighting robot DC brushless motor X and DC brushless motor Y will run according to the deviation leaving center, speed and acceleration command value, FPGA recombination current sensor C1, C2, motor photoelectric encoder, accelerometer sensor A1, the feedback of gyroscope G1 and direction sensor D1, the pwm control signal of fine setting DC brushless motor X and DC brushless motor Y, control signal is moved before drive axle amplification rear drive DC brushless motor X and DC brushless motor Y-direction.Can the attitude of accurate adjustment firefighting robot by this mode, make it come back to setting center.Firefighting robot realizes arranging stop parking.The PWM ripple that STM32F407 readjusts firefighting robot two DC brushless motors by FPGA exports, make two non-brush permanent-magnet DC motor directions of motion contrary, firefighting robot original place realizes 180 degree, accurate original place and turns under the control of accelerometer sensor A1, and 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;
10) if having barricade to enter the range of movement in front at firefighting robot in the forward movement of current direction, and now sensor S2 and S3 judges that there is barricade on the left side, and 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; In order to give full play to the fast processing data capability of FPGA, the three-stage process given up based on MC58113 and LM629 proceeds to method, more actual conditions are approached in order to make turning, the present invention adopts five sections of methods to complete turning: proceed to front linear correction R90_Leading, proceed to radian and correct ARC11, proceed to radian ARC12, produce radian and correct ARC13, produce linear correction R90_Passing.
When turning right, first FPGA requires to generate position that firefighting robot DC brushless motor X and DC brushless motor Y will run, speed and acceleration command value the very short distance R90_Leading of walking straight line according to the different search speed of controller and acceleration, the feedback of FPGA recombination current sensor C1, C2 and motor photoelectric encoder generates the pwm control signal controlling DC brushless motor X and DC brushless motor Y, and control signal is moved before drive axle amplification rear drive DC brushless motor X and DC brushless motor Y-direction.At firefighting robot along in current room lattice explored going forward process, sensor S2, S3 can judge left barricade, and record stores current search room barricade information, firefighting robot enters Dan Zuoqiang navigation mode according to the room information of the left barricade of direction of advance, and then combine the left barricade navigation threshold values of setting, accelerometer A1, gyroscope G1 and direction sensor D1 records the real-time acceleration of firefighting robot, speed and angle signal also give FPGA, FPGA real time record stores the instantaneous acceleration of firefighting robot, speed and positional information, when firefighting robot rapid discovery has departed from setting center, microprocessor is converted into by FPGA the new position that firefighting robot DC brushless motor X and DC brushless motor Y will run according to the deviation leaving center, speed and acceleration command value, FPGA recombination current sensor C1, C2, motor photoelectric encoder, accelerometer sensor A1, the feedback of gyroscope G1 and direction sensor D1, the pwm control signal of fine setting DC brushless motor X and DC brushless motor Y, control signal is moved before drive axle amplification rear drive DC brushless motor X and DC brushless motor Y-direction.Can the attitude of accurate adjustment firefighting robot by this mode, make it come back to setting center.
When arriving set objective, sensor reference value R90_FrontWallRef starts working, and prevents external interference from starting to do error compensation.Error compensation terminates to start to adjust DC brushless motor X and DC brushless motor Y speed makes it complete the curve movement of radian ARC afterwards.First FPGA requires to be converted into position that firefighting robot DC brushless motor X and DC brushless motor Y will run, speed and acceleration command value radian ARC11 according to the different search speed of controller and acceleration, the feedback of FPGA recombination current sensor C1, C2 and motor photoelectric encoder generates the pwm control signal controlling DC brushless motor X and DC brushless motor Y, and after PWM wave control signal is amplified by drive axle, promotion firefighting robot completes to turn and searches.In firefighting robot turning search process, sensor S2, S3, S4, S5 cannot provide reference by location for system, and system relies on direction sensor D1 to carry out position correction.Its instantaneous angular of direction sensor D1 real time record in firefighting robot fast searching turning process, and with the angle contrast of desired location, when firefighting robot fast searching has departed from desired location, within the new sampling period, FPGA is converted into deviation size the new position that firefighting robot DC brushless motor X and DC brushless motor Y will run, speed and acceleration command value, FPGA recombination current sensor C1, C2, motor photoelectric encoder, accelerometer sensor A1, the feedback of gyroscope G1 and direction sensor D1, the pwm control signal of 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 ARC11,
After correcting before completing ARC11 and proceeding to, FPGA requires to be converted into position that firefighting robot DC brushless motor X and DC brushless motor Y will run, speed and acceleration command value radian ARC12 according to the different search speed of controller and acceleration, the feedback of FPGA recombination current sensor C1, C2 and motor photoelectric encoder generates the pwm control signal controlling DC brushless motor X and DC brushless motor Y, and after PWM wave control signal is amplified by drive axle, promotion firefighting robot completes to turn and searches.In firefighting robot turning search process, system relies on direction sensor D1 to carry out position correction.Its instantaneous angular of direction sensor D1 real time record in firefighting robot fast searching turning process, and with the angle contrast of desired location, when firefighting robot fast searching has departed from desired location, within the new sampling period, FPGA is converted into deviation size the new position that firefighting robot DC brushless motor X and DC brushless motor Y will run, speed and acceleration command value, FPGA recombination current sensor C1, C2, motor photoelectric encoder, accelerometer sensor A1, the feedback of gyroscope G1 and direction sensor D1, the pwm control signal of 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 ARC12,
After completing radian ARC12 turning, the artificial radian of fire extinguishing machine produces prepares.FPGA requires to be converted into position that firefighting robot DC brushless motor X and DC brushless motor Y will run, speed and acceleration command value radian ARC13 according to the different search speed of controller and acceleration, the feedback of FPGA recombination current sensor C1, C2 and motor photoelectric encoder generates the pwm control signal controlling DC brushless motor X and DC brushless motor Y, and after PWM wave control signal is amplified by drive axle, promotion firefighting robot completes to turn and searches.Produce in process at firefighting robot, system relies on direction sensor D1 to carry out position correction.Its instantaneous angular of direction sensor D1 real time record in firefighting robot fast searching turning process, and with the angle contrast of desired location, when firefighting robot fast searching has departed from desired location, within the new sampling period, FPGA is converted into deviation size the new position that firefighting robot DC brushless motor X and DC brushless motor Y will run, speed and acceleration command value, FPGA recombination current sensor C1, C2, motor photoelectric encoder, accelerometer sensor A1, the feedback of gyroscope G1 and direction sensor D1, the pwm control signal of 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 ARC13,
When after arrival set objective, system relies on sensor S2, S3 starts navigation, FPGA requires according to the different search speed of controller and acceleration the position that generation firefighting robot DC brushless motor X and DC brushless motor Y will run distance R90_Passing very short for straight line moving, speed and acceleration command value, FPGA recombination current sensor C1, the feedback of C2 and motor photoelectric encoder generates the pwm control signal controlling DC brushless motor X and DC brushless motor Y, control signal is moved before drive axle amplification rear drive DC brushless motor X and DC brushless motor Y-direction.At firefighting robot along in current room lattice explored going forward process, sensor S2, S3 can judge left barricade, and record stores current search room barricade information, firefighting robot enters Dan Zuoqiang navigation mode according to the room information of the left barricade of direction of advance, and then combine the left barricade navigation threshold values of setting, accelerometer A1, gyroscope G1 and direction sensor D1 records the real-time acceleration of firefighting robot, speed and angle signal also give FPGA, FPGA real time record stores the instantaneous acceleration of firefighting robot, speed and positional information, when firefighting robot rapid discovery has departed from setting center, microprocessor is converted into by FPGA the new position that firefighting robot DC brushless motor X and DC brushless motor Y will run according to the deviation leaving center, speed and acceleration command value, FPGA recombination current sensor C1, C2, motor photoelectric encoder, accelerometer sensor A1, the feedback of gyroscope G1 and direction sensor D1, the pwm control signal of fine setting DC brushless motor X and DC brushless motor Y, control signal is moved before drive axle amplification rear drive DC brushless motor X and DC brushless motor Y-direction.Can the attitude of accurate adjustment firefighting robot by this mode, make it 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;
11) if having barricade to enter the range of movement in front at firefighting robot in the forward movement of current direction, and now sensor S2 and S3 of left and right judges that the left side is without barricade, and 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; In order to give full play to the fast processing data capability of FPGA, the three-stage process given up based on LM629 proceeds to method, more actual conditions are approached in order to make turning, the present invention adopts five sections of methods to complete turning: proceed to front linear correction L90_Leading, proceed to radian and correct ARC21, proceed to radian ARC22, produce radian and correct ARC23, produce linear correction L90_Passing.
When turning left, it is similar with right-hand rotation that controller controls motor walking rule.After arriving set objective by five sections of methods, complete the geometric locus motion of whole left-hand bend, then controller starts 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 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;
12) after firefighting robot arrives new room lattice, photoelectric sensor S7 starts working, light source under new coordinate is judged, if photoelectric sensor 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 and candle, FPGA is according to the anglec of rotation, angular acceleration requirement, this angle is converted into angle, angular speed, angular acceleration command value, FPGA is in conjunction with current of electric 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, motor X is rotated forward, motor Y reverses, at accelerometer A1, under gyroscope G1 and direction sensor D1 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,
Controller is according to the difference in height between image capturing system determination nozzle and burning things which may cause a fire disaster, FPGA is according to distance, speed, acceleration requirement, this difference in height is converted into position, speed, acceleration command value, the electric current of FPGA in conjunction with motor E and the feedback of photoelectric encoder, the PWM wave control signal of automatic adjustment direct current generator E, then direct current generator E work is driven, make the nozzle height of fire extinguisher consistent with candle burning things which may cause a fire disaster height, the magnetic 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, FPGA adjusts the PWM wave control signal of DC brushless motor X and DC brushless motor Y automatically, motor X is reversed, motor Y rotates forward, and under accelerometer A1, gyroscope G1 and direction sensor D1 control, 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, continuation be searched and upgrade its coordinate;
13) 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;
14) total at firefighting robot walking process, FPGA detects the speed of travel of firefighting robot in real time, and can strengthen vacuum cup to the adsorption capacity on ground by self-regulation motor M according to surface state system.
15) in firefighting robot room search process, FPGA can carry out on-line identification to the torque of high-speed DC brushless electric machine X, brshless DC motor Y, direct current generator M, direct current generator E, due to system employing is three Close loop servo control, if there is pulsation in torque, FPGA 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.
16) starting point (0 is got back to when firefighting robot completes whole return trip, 0), control FPGA makes firefighting robot central point stop by STM32F407, and readjust FPGA drive singal, 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, gyroscope G1 and direction sensor D1, and turnback is revolved in original place, original place self-locking, waits for next seek command.
The beneficial effect that the present invention is based on the double-core servo-control system of two-wheeled high-speed full-automatic firefighting robot 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+FPGA controller moment; and in the process of cell powers; the electric current of current sensor C1, C2 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 brshless DC motor, motor mechanical is rubbed, without wearing and tearing, without electric spark, and non-maintaining, and the efficiency of brshless DC motor is high, power and torque density high, make the efficiency of system higher.
3: by the SERVO CONTROL of two DC brushless motor X of FPGA process firefighting robot and DC brushless motor Y, single shaft absorption and control direct current generator M, fire extinguisher lifting motor E, make control fairly simple, substantially increase arithmetic speed, solve scm software and run slower bottleneck, shorten the construction cycle short, and program transportability ability is strong.
4: the present invention realizes full SMD components material substantially, achieve veneer and control, not only save control panel and take up room, and be conducive to alleviating of firefighting robot volume and weight.
5: owing to adopting DC brushless motor, make system band loading capability stronger, speed adjustable range is wider, and contrast of regulating speed is steady.
6: the data adopting FPGA process four axle servo a large amount of due to this controller and algorithm, effectively prevent " race flies " of program, antijamming capability strengthens greatly.
8: in firefighting robot actual motion process, FPGA can adjust its inner servo-controlled pid parameter according to the peripheral ruuning situation of robot in good time, realize segmentation P, PD, PID to control and nonlinear PID controller, make system meet the switching of high-speed cruising hourly velocity.
9, three axis accelerometer A1, gyroscope G1 and direction sensor D1 is introduced at this firefighting robot system, obtain the acceleration of firefighting robot, speed and angle information in real time, achieve the direct-detection of instantaneous acceleration, speed and angle when firefighting robot is explored in room, and utilize feedback to realize omnidistance navigation and second compensation, be conducive to the stability and the dynamic property that improve firefighting robot.
10: in firefighting robot running, FPGA can carry out on-line identification to the torque of high-speed DC brushless electric machine X, DC brushless motor Y, direct current generator M and 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.
11: by regulating direct current generator M can effectively regulate vacuum cup to the absorption affinity on ground, eliminate the generation of firefighting robot skidding when seeking at a high speed burning things which may cause a fire disaster.
12: by FPGA according to exploring the speed of burning things which may cause a fire disaster, that acceleration requires that extraneous deviation is converted into the position of each Electric Machine Control, speed and acceleration is given, feedback again in conjunction with photoelectric encoder and current sensor exports PWM modulation signal and direction signal, greatly improves arithmetic speed.
13: adding of IMAQ effectively can catch burning things which may cause a fire disaster, reduce external interference to the maloperation of robot.
14: regulate the direction of motion of brushless electric machine X and brushless electric machine Y contrary, can be obtained the angle of firefighting robot rotation by direction sensor, the fire extinguisher 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.
15: the height that can be adjusted fire extinguisher by the SERVO CONTROL 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 (10)

1. the double-core servo-control system based on two-wheeled high-speed full-automatic firefighting robot, it is characterized in that, comprise: double-core control unit, voltage sensor, battery, motion motor, 3-axis acceleration flowmeter sensor, gyroscope, direction sensor, single shaft absorption and control direct current generator, lifting direct current generator, image acquisition device, single axle vacuum adsorbent equipment and 6 ultrasonic sensor units
Described double-core control unit comprises STM32F407 controller and FPGA controller, and described STM32F407 controller is connected with described FPGA controller,
Described lifting direct current generator is provided with dry-ice fire extinguisher, described single shaft absorption and control direct current generator is connected with single axle vacuum adsorbent equipment, described single axle vacuum adsorbent equipment is connected with the vacuum cup for preventing firefighting robot from skidding,
Described ultrasonic sensor units comprises front probe unit, left probe unit and right probe unit,
Described double-core control unit sends PWM wave control signal, and described motion motor, described single shaft absorption and control direct current generator and described lifting direct current generator receive PWM wave control signal one to one respectively,
Described double-core control unit is connected with described direction sensor, described single shaft absorption and control direct current generator, described lifting direct current generator, described image acquisition device, described ultrasonic sensor units with described battery, described voltage sensor, described motion motor, described 3-axis acceleration flowmeter sensor, described gyroscope respectively.
2. the double-core servo-control system based on two-wheeled high-speed full-automatic firefighting robot according to claim 1, it is characterized in that, the inside of described processor is also provided with host computer procedure system and motion control program system, described host computer procedure 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 based on FPGA tetra-axle synchronous direct current mixing servo control module, coordinate setting module, I/O control module and image capture module, described comprising based on FPGA tetra-axle synchronous direct current mixing servo control module searches servo control module based on diaxon DC brushless motor firefighting robot, single axle vacuum sucker suction servo control module and fire extinguisher single shaft lift servo control module.
3. the double-core servo-control system based on two-wheeled high-speed full-automatic firefighting robot according to claim 1, it is characterized in that, 2 that also comprise that the DC brushless motor X that is respectively used to control firefighting robot wheel and DC brushless motor Y, described DC brushless motor X and described DC brushless motor Y receive that described double-core control unit sends respectively corresponding PWM wave control signals.
4. the double-core servo-control system based on two-wheeled high-speed full-automatic firefighting robot according to claim 3, it is characterized in that, the revolver of firefighting robot is connected with described DC brushless motor X, and right wheel of firefighting robot is connected with described DC brushless motor Y.
5. the double-core servo-control system based on two-wheeled high-speed full-automatic firefighting robot according to claim 1, is characterized in that, also comprises the photoelectric gathering apparatus for gathering burning things which may cause a fire disaster information, and described photoelectric gathering apparatus is connected with described double-core control unit.
6. the double-core servo-control system based on two-wheeled high-speed full-automatic firefighting robot according to claim 1, is characterized in that, described front probe unit comprises first sensor and the 6th sensor.
7. the double-core servo-control system based on two-wheeled high-speed full-automatic firefighting robot according to claim 1, is characterized in that, described left probe unit comprises the second sensor and the 3rd sensor.
8. the double-core servo-control system based on two-wheeled high-speed full-automatic firefighting robot according to claim 1, is characterized in that, described right probe unit comprises four-sensor and the 5th sensor.
9. the double-core servo-control system based on two-wheeled high-speed full-automatic firefighting robot according to claim 1, is characterized in that, described battery adopts lithium ion battery.
10. the double-core servo-control system based on two-wheeled high-speed full-automatic firefighting robot according to claim 1, it is characterized in that, also comprise the first current sensor and the second current sensor, described double-core control unit is connected with described second current sensor with described first current sensor respectively by motor photoelectric encoder.
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CN105856237A (en) * 2016-06-08 2016-08-17 江苏若博机器人科技有限公司 Wireless transmission three-kernel four-shaft crawler type high-speed natural gas pipeline robot control system
CN105856234A (en) * 2016-06-08 2016-08-17 江苏若博机器人科技有限公司 Three-core two-axis crawler-type high-speed natural gas pipeline robot control system
CN105856236A (en) * 2016-06-08 2016-08-17 江苏若博机器人科技有限公司 Wireless transmission four-kernel four-shaft crawler type rapid natural gas pipeline robot control system
CN105922260A (en) * 2016-06-08 2016-09-07 江苏若博机器人科技有限公司 Two-core two-axis crawler rapid natural gas pipeline robot control system
CN106078734A (en) * 2016-06-08 2016-11-09 江苏若博机器人科技有限公司 One is wirelessly transferred dinuclear four axle crawler type natural gas line robot control system
CN105922260B (en) * 2016-06-08 2018-04-27 江苏若博机器人科技有限公司 A kind of two axis crawler type natural gas line robot control system of dinuclear
CN105856237B (en) * 2016-06-08 2018-11-13 江苏若博机器人科技有限公司 It is wirelessly transferred three core, four axis caterpillar type high-speed natural gas line robot control system
CN105856236B (en) * 2016-06-08 2018-11-13 江苏若博机器人科技有限公司 It is wirelessly transferred the quick natural gas line robot control system of four core, four axis crawler type
CN105997392A (en) * 2016-07-28 2016-10-12 江苏若博机器人科技有限公司 Wireless double-core double-wheel drive robot electric sickbed control system
CN106074035A (en) * 2016-07-28 2016-11-09 江苏若博机器人科技有限公司 A kind of double-core Two-wheeled robot electric hospital bed controlling system

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