CN106940960A - Simulation or teaching demonstration firefighting robot and its control method of tracking - Google Patents
Simulation or teaching demonstration firefighting robot and its control method of tracking Download PDFInfo
- Publication number
- CN106940960A CN106940960A CN201710237293.9A CN201710237293A CN106940960A CN 106940960 A CN106940960 A CN 106940960A CN 201710237293 A CN201710237293 A CN 201710237293A CN 106940960 A CN106940960 A CN 106940960A
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- CN
- China
- Prior art keywords
- signal
- motor
- controller mechanism
- fire
- black
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C99/00—Subject matter not provided for in other groups of this subclass
- A62C99/0081—Training methods or equipment for fire-fighting
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
Abstract
The invention discloses one kind simulation or teaching demonstration firefighting robot and its control method of tracking, including chassis, revolver motor, right wheel motor, left road wheel, right road wheel, fire extinguishing motor, fire-extinguishing fan, infrared sensor, flame sensor, gray-scale sensor and controller mechanism.Control method comprises the following steps, step 1, starts；Step 2, if detecting the track identification of black, step 3 is performed；Step 3, run at high speed；Step 4, if the deviation from then being rectified a deviation；Step 5, if obstacle then carries out steering avoidance；Step 6, if burning things which may cause a fire disaster then drives towards burning things which may cause a fire disaster fire extinguishing；Step 7, if not detecting the track identification of black, it is stopped；Step 8, repeat step 3, step 4, step 5, step 6 and step 7, until receiving stop signal, stop.The ability of process signal of the present invention is strong, and the task that is accurately positioned to burning things which may cause a fire disaster can be completed well, improves fire extinguishing reliability and rapidity.
Description
Technical field
The present invention relates to robotics, more particularly to a kind of simulation or teaching demonstration with track firefighting robot and
Its control method.
Background technology
Robot be it is a kind of can simulate the machine automatization control machine of human behavior or other biological, it is certain for completing
Task.The robot for being presently used for demonstration fire extinguishing has the following disadvantages that the ability of robot process signal is weak, speed and precision
Control is inaccurate, it is impossible to is precisely positioned to burning things which may cause a fire disaster and puts out burning things which may cause a fire disaster, it is impossible to brings preferable experience of reality sense for student.
The content of the invention
The present invention provides a kind of simulation or the teaching demonstration firefighting robot that tracks, and the ability of process signal is strong, in speed
There is very big improvement with precision aspect, match request is met by the number and riding position of reasonable selection sensor, can
Complete well and task is accurately positioned to burning things which may cause a fire disaster, improve fire extinguishing reliability and rapidity, with preferably demonstrating effect,
Also the experience of reality sense of student can be improved.
In order to solve the above technical problems, the technical scheme is that：One kind simulation or the teaching demonstration spray that tracks
Device people, automatically moved according to track and put out burning things which may cause a fire disaster for demonstrating, including chassis, and the bottom on the chassis drives electricity provided with revolver
Machine and right wheel motor, the revolver motor and the right wheel motor are connected to the left side positioned at chassis both sides
Road wheel and right road wheel, the top on the chassis is provided with fire extinguishing motor, and the output shaft of the fire extinguishing motor is connected with fire extinguishing wind
Fan, the front portion on the chassis is provided with infrared sensor and flame sensor, and the bottom on the chassis is additionally provided with some be set up in parallel
Gray-scale sensor, the rear portion on the chassis is provided with controller mechanism, the signal input part of the controller mechanism with it is described red
The signal output part connection of outer sensor, the flame sensor and the gray-scale sensor, the signal of the controller mechanism
The output end control connection revolver motor, the right wheel motor and fire extinguishing motor.
As preferred technical scheme, the controller mechanism includes the mainboard being arranged on the chassis, the mainboard
Chip is provided with, the chip is connected with some external interfaces.
As the improvement to above-mentioned technical proposal, also including wireless remote control handle, the wireless remote control handle is connected
There is the wireless receiver on the chassis, the output signal of the wireless receiver is connected to the external interface.
The present invention also provides a kind of control method of above-mentioned simulation or teaching demonstration with the firefighting robot that tracks.
In order to solve the above technical problems, the technical scheme is that：One kind simulation or the teaching demonstration spray that tracks
The control method of device people, comprises the following steps,
Step 1, enabling signal is received, starting state is initialized into；
Step 2, gray-scale sensor detection signal, and will detect that signal transmission, to controller mechanism, judges whether to detect
The track identification of black；If not detecting the track identification of black, run at a low speed, if detecting the track mark of black
Know, then perform step 3；
Step 3, controller mechanism sends control signal, control revolver motor and right wheel motor, runs at high speed；
Step 4, gray-scale sensor detection signal, and signal transmission will be detected to controller mechanism, judge whether to deviate black
The track identification of color, control signal, control revolver motor and right wheel motor are sent if the deviation from then controller mechanism
Rectified a deviation；
Step 5, infrared sensor detection signal, and will detect that signal transmission, to controller mechanism, determines whether obstacle,
If obstacle, then controller mechanism sends control signal, and control revolver motor and right wheel motor carry out steering and kept away
Barrier；
Step 6, flame sensor detection signal, and will detect that signal transmission, to controller mechanism, determines whether burning things which may cause a fire disaster,
If burning things which may cause a fire disaster, then controller mechanism sends control signal, and control revolver motor and right wheel motor drive towards burning things which may cause a fire disaster, control
System fire extinguishing motor action, driving fire-extinguishing fan fire extinguishing；
Step 7, gray-scale sensor detection signal, and will detect that signal transmission, to controller mechanism, judges whether to detect
The track identification of black, if not detecting the track identification of black, controller mechanism sends control signal, controls revolver
Motor and right wheel motor are stopped；
Step 8, repeat step 3, step 4, step 5, step 6 and step 7, until receiving stop signal, stop.
As preferred technical scheme, step 4, judge whether that the track identification for deviateing black is detected specifically, calculating
Black track identification width, value median judges whether the central point of median and robot consistent, if unanimously
Then be judged as without departing from, be judged as if inconsistent deviate.
As the improvement to above-mentioned technical proposal, step 1, the enabling signal is wireless signal.
As the further improvement to above-mentioned technical proposal, step 8, the stop signal is wireless signal.
By adopting the above-described technical solution, ground surface is provided with the track identification of black, track identification is nearby provided with burning things which may cause a fire disaster,
It can be specifically the candle of burning.Gray-scale sensor is used for detecting track identification, and transmits signals to controller mechanism, controls
The action of device mechanism controls revolver motor and right wheel motor, can follow track identification motion；Infrared sensor is used
To detect front region signal, and transmit signals to controller mechanism, controller mechanism controls revolver motor and right wheel
The action of motor, being capable of avoiding barrier；Flame sensor is used for detecting burning things which may cause a fire disaster, and transmits signals to controller machine
Structure, the action of controller mechanism controls revolver motor and right wheel motor, is quickly pin-pointed to fire location, control
Device mechanism controls fire extinguishing motor action, drives fire-extinguishing fan to put out burning things which may cause a fire disaster.The ability of robot process signal of the present invention is strong, in speed
Degree and precision aspect have very big improvement, and match request, energy are met by the number and riding position of reasonable selection sensor
Enough complete well is accurately positioned task to burning things which may cause a fire disaster, improves fire extinguishing reliability and rapidity, with preferably demonstration effect
Really, the experience of reality sense of student can also be improved.
Brief description of the drawings
The following drawings is only intended to, in doing schematic illustration and explanation to the present invention, not delimit the scope of the invention.Wherein：
Fig. 1 is the structural representation of the embodiment of the present invention；
Fig. 2 is Fig. 1 A to structural representation；
Fig. 3 is the upward view of the embodiment of the present invention；
Fig. 4 is the control method flow chart of the embodiment of the present invention.
In figure：1- chassis；2- revolver motors；3- right wheel motors；The left road wheels of 4-；The right road wheels of 5-；6- goes out
Thermal motor；7- fire-extinguishing fans；8- infrared sensors；9- flame sensors；10- gray-scale sensors；11- controllers mechanism.
Embodiment
With reference to the accompanying drawings and examples, the present invention is expanded on further.In the following detailed description, only explanation is passed through
Mode describes some one exemplary embodiments of the present invention.Undoubtedly, one of ordinary skill in the art will recognize,
In the case of without departing from the spirit and scope of the present invention, described embodiment can be repaiied with a variety of modes
Just.Therefore, accompanying drawing and description are inherently illustrative, are not intended to limit the scope of the claims.
As long as in addition, technical characteristic involved in each embodiment of invention described below non-structure each other
It can be just mutually combined into conflict.
As shown in Figure 1, Figure 2 and Figure 3, a kind of simulation or the teaching demonstration firefighting robot that tracks, for demonstrating according to rail
Mark automatically moves and puts out burning things which may cause a fire disaster, including chassis 1, and the bottom on chassis 1 is provided with revolver motor 2 and right wheel motor 3, left
Wheel drive motor 2 and right wheel motor 3 are connected to left road wheel 4 and right road wheel 5 positioned at the both sides of chassis 1, chassis 1
Top provided with fire extinguishing motor 6, the output shaft of fire extinguishing motor 6 is connected with fire-extinguishing fan 7, and the front portion on chassis 1 is provided with infrared sensing
Device 8 and flame sensor 9, the bottom on chassis 1 are additionally provided with some gray-scale sensors 10 being set up in parallel, and the rear portion on chassis 1 is provided with
Controller mechanism 11, signal input part and infrared sensor 8, flame sensor 9 and the gray-scale sensor 10 of controller mechanism 11
Signal output part connection, the signal output part control connection revolver motor 2 of controller mechanism 11, right wheel motor 3
With fire extinguishing motor 6.Ground surface is provided with the track identification of black, and track identification is nearby provided with burning things which may cause a fire disaster, can be specifically the wax of burning
Candle.Infrared sensor 8 is used for detecting front region signal, and transmits signals to controller mechanism 11, and controller mechanism 11 is controlled
The action of revolver motor 2 and right wheel motor 3 processed, being capable of avoiding barrier；Gray-scale sensor 10 is used for detecting track
Mark, and transmit signals to controller mechanism 11, the control revolver motor of controller mechanism 11 2 and right wheel motor 3
Action, can follow track identification motion；Flame sensor 9 is used for detecting burning things which may cause a fire disaster, and transmits signals to controller mechanism
11, the action of the control revolver motor of controller mechanism 11 2 and right wheel motor 3 is quickly pin-pointed to fire location,
The control fire extinguishing motor 6 of controller mechanism 11 is acted, and drives fire-extinguishing fan 7 to put out burning things which may cause a fire disaster.Controller mechanism 11 is sent out to fire extinguishing motor 6
Send PWM ripples to reach the purpose of fire extinguishing, the wind speed of fire-extinguishing fan 7 is controlled by adjusting the dutycycle of PWM ripples.Revolver is controlled respectively
The rotating speed of the output shaft of motor 2 and right wheel motor 3, which is realized, to be turned to and keeps straight on.
Controller mechanism 11 includes being arranged on the One On The Chassis mainboard, and mainboard is provided with chip, and chip is connected with some external
Interface.Chip can use ATMEGA328P 8-bit microprocessors, and external interface can be digital quantity input and output I/O port, simulation
Amount input port, preparation power pin, for USB interface and power interface for downloading etc..The external driving change-over panel collection of mainboard
All lower floor's pins are closed, external power supply is equipped with comprising 7805 transformation chips and is converted into normal voltage used by chip, with raising one's voice
The integrated equipments such as device infrared transceiver, are to those skilled in the art known technology, will not be repeated here.
Also include wireless remote control handle, wireless remote control handle is connected with installed in the One On The Chassis wireless receiver, nothing
The output signal of line receiver is connected to external interface.Wireless remote control handle can use PS2 handles, and wireless receiver can be
PS2 receivers, can realize sending and receiving for control signal, and be delivered to chip progress signal transacting by external interface,
Realize remote control.
As shown in figure 4, a kind of simulate or the teaching demonstration control method for the firefighting robot that tracks, comprise the following steps,
Step 1, enabling signal is received, starting state is initialized into；
Step 2, the detection of gray-scale sensor 10 signal, and will detect that signal transmission, to controller mechanism 11, judges whether inspection
Measure the track identification of black；If not detecting the track identification of black, run at a low speed, if detecting the rail of black
Mark is identified, then performs step 3；
Step 3, controller mechanism 11 sends control signal, control revolver motor 2 and right wheel motor 3, at a high speed
Traveling；
Step 4, the detection of gray-scale sensor 10 signal, and will detect that signal transmission, to controller mechanism 11, judges whether partially
From the track identification of black, control signal is sent if the deviation from then controller mechanism 11, control revolver motor 2 and right wheel are driven
Dynamic motor 3 is rectified a deviation；
Step 5, the detection of infrared sensor 8 signal, and will detect that signal transmission, to controller mechanism 11, determines whether barrier
Hinder, if obstacle, then controller mechanism 11 sends control signal, and control revolver motor 2 and right wheel motor 3 are carried out
Turn to avoidance；
Step 6, the detection of flame sensor 9 signal, and will detect that signal transmission, to controller mechanism 11, determines whether fire
Source, if burning things which may cause a fire disaster, then controller mechanism 11 sends control signal, and control revolver motor 2 and right wheel motor 3 drive towards
Burning things which may cause a fire disaster, control fire extinguishing motor 6 is acted, and driving fire-extinguishing fan 7 is put out a fire；
Step 7, the detection of gray-scale sensor 10 signal, and will detect that signal transmission, to controller mechanism 11, judges whether inspection
The track identification of black is measured, if not detecting the track identification of black, controller mechanism 11 sends control signal, controlled
Revolver motor 2 and right wheel motor 3 processed are stopped；
Step 8, repeat step 3, step 4, step 5, step 6 and step 7, until receiving stop signal, stop.
Step 4, judge whether to deviate the track identification of black specifically, calculating the width of the track identification of the black detected
Degree, value median judges whether the central point of median and robot consistent, be judged as if unanimously without departing from, if
It is inconsistent, it is judged as deviateing.The quantity of gray-scale sensor 10 is 5, can be expanded the coverage area, to detect track identification,
Improve the accuracy of tracking movement.
Step 1, enabling signal is wireless signal, step 8, and stop signal is wireless signal.Wireless remote control hand can be used
Handle and wireless receiver realize remote control.
The ability of the present embodiment robot process signal is strong, there is very big improvement in speed and precision aspect, by closing
The number and riding position of reason selection sensor meet match request, can well complete and being accurately positioned for burning things which may cause a fire disaster is appointed
Business, improves fire extinguishing reliability and rapidity, with preferably demonstrating effect, can also improve the experience of reality sense of student.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appending claims and its
Equivalent thereof.
Claims (7)
1. one kind simulation or the teaching demonstration firefighting robot that tracks, automatically moved according to track and put out burning things which may cause a fire disaster for demonstrating,
Including chassis, it is characterised in that：The bottom on the chassis is provided with revolver motor and right wheel motor, the revolver driving
Motor and the right wheel motor are connected to left road wheel and right road wheel positioned at chassis both sides, the chassis it is upper
Side is connected with fire-extinguishing fan provided with fire extinguishing motor, the output shaft of the fire extinguishing motor, and the front portion on the chassis is provided with infrared sensing
Device and flame sensor, the bottom on the chassis are additionally provided with some gray-scale sensors being set up in parallel, and the rear portion on the chassis is set
There is a controller mechanism, the signal input part of the controller mechanism and the infrared sensor, the flame sensor and described
The signal output part connection of gray-scale sensor, the signal output part control connection revolver driving electricity of the controller mechanism
Machine, the right wheel motor and fire extinguishing motor.
2. simulation as claimed in claim 1 or the teaching demonstration firefighting robot that tracks, it is characterised in that：The controller machine
Structure includes the mainboard being arranged on the chassis, and the mainboard is provided with chip, and the chip is connected with some external interfaces.
3. simulation as claimed in claim 2 or the teaching demonstration firefighting robot that tracks, it is characterised in that：Also include wireless remote
Handle is controlled, the wireless remote control handle is connected with the wireless receiver on the chassis, the wireless receiver
Output signal be connected to the external interface.
4. the control method of the firefighting robot as described in any one of claims 1 to 3, it is characterised in that：Comprise the following steps,
Step 1, enabling signal is received, starting state is initialized into；
Step 2, gray-scale sensor detection signal, and will detect that signal transmission, to controller mechanism, judges whether to detect black
Track identification；If not detecting the track identification of black, run at a low speed, if detecting the track identification of black,
Then perform step 3；
Step 3, controller mechanism sends control signal, control revolver motor and right wheel motor, runs at high speed；
Step 4, gray-scale sensor detection signal, and will detect that signal transmission, to controller mechanism, judges whether to deviate black
Track identification, control signal is sent if the deviation from then controller mechanism, and control revolver motor and right wheel motor are carried out
Correction；
Step 5, infrared sensor detection signal, and will detect that signal transmission, to controller mechanism, determines whether obstacle, if
Having obstacle, then controller mechanism sends control signal, and control revolver motor and right wheel motor carry out steering avoidance；
Step 6, flame sensor detection signal, and will detect that signal transmission, to controller mechanism, determines whether burning things which may cause a fire disaster, if
Having burning things which may cause a fire disaster, then controller mechanism sends control signal, and control revolver motor and right wheel motor drive towards burning things which may cause a fire disaster, and control is gone out
Thermal motor is acted, driving fire-extinguishing fan fire extinguishing；
Step 7, gray-scale sensor detection signal, and will detect that signal transmission, to controller mechanism, judges whether to detect black
Track identification, if not detecting the track identification of black, controller mechanism sends control signal, control revolver driving
Motor and right wheel motor are stopped；
Step 8, repeat step 3, step 4, step 5, step 6 and step 7, until receiving stop signal, stop.
5. simulation as claimed in claim 4 or the teaching demonstration control method for the firefighting robot that tracks, it is characterised in that：Step
Rapid 4, judge whether to deviate the track identification of black specifically, calculating in the width of the track identification of the black detected, value
Between be worth, judge whether the central point of median and robot consistent, be judged as if unanimously without departing from sentencing if inconsistent
Break to deviate.
6. simulation as claimed in claim 4 or the teaching demonstration control method for the firefighting robot that tracks, it is characterised in that：Step
Rapid 1, the enabling signal is wireless signal.
7. simulation or the teaching demonstration control method for the firefighting robot that tracks as described in any one of claim 4 to 6, it is special
Levy and be：Step 8, the stop signal is wireless signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710237293.9A CN106940960A (en) | 2017-04-12 | 2017-04-12 | Simulation or teaching demonstration firefighting robot and its control method of tracking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710237293.9A CN106940960A (en) | 2017-04-12 | 2017-04-12 | Simulation or teaching demonstration firefighting robot and its control method of tracking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106940960A true CN106940960A (en) | 2017-07-11 |
Family
ID=59464607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710237293.9A Withdrawn CN106940960A (en) | 2017-04-12 | 2017-04-12 | Simulation or teaching demonstration firefighting robot and its control method of tracking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106940960A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107452271A (en) * | 2017-09-20 | 2017-12-08 | 柳州欧卡机器人有限公司 | A kind of teaching apparatus of industrial robot |
| CN110610637A (en) * | 2019-09-25 | 2019-12-24 | 汕头市快畅机器人科技有限公司 | Robot competition system and method thereof |
| CN113086012A (en) * | 2021-05-24 | 2021-07-09 | 安徽信息工程学院 | Mobile robot with adjustable chassis |
-
2017
- 2017-04-12 CN CN201710237293.9A patent/CN106940960A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107452271A (en) * | 2017-09-20 | 2017-12-08 | 柳州欧卡机器人有限公司 | A kind of teaching apparatus of industrial robot |
| CN107452271B (en) * | 2017-09-20 | 2020-09-18 | 李敏 | Industrial robot's teaching device |
| CN110610637A (en) * | 2019-09-25 | 2019-12-24 | 汕头市快畅机器人科技有限公司 | Robot competition system and method thereof |
| CN113086012A (en) * | 2021-05-24 | 2021-07-09 | 安徽信息工程学院 | Mobile robot with adjustable chassis |
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| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180517 Address after: 261031 the third floor of No. 1 building, R & D workshop, No. 13426, Yuqing East Street, Xinqing street, new high tech Zone, Weifang, Shandong. Applicant after: SHANDONG GAOZHIBO EDUCATION & TECHNOLOGY CO., LTD. Address before: 261061, third floor, 1 building, second accelerator, hi tech Zone, Weifang, Shandong. Applicant before: Yang Lingang |
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| TA01 | Transfer of patent application right | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170711 |
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| WW01 | Invention patent application withdrawn after publication |