CN205055284U - Double -core servo control system based on full automatic fire extinguishing robot of two -wheeled intermediate speed - Google Patents

Double -core servo control system based on full automatic fire extinguishing robot of two -wheeled intermediate speed Download PDF

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CN205055284U
CN205055284U CN201520638145.4U CN201520638145U CN205055284U CN 205055284 U CN205055284 U CN 205055284U CN 201520638145 U CN201520638145 U CN 201520638145U CN 205055284 U CN205055284 U CN 205055284U
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control
motor
firefighting robot
servo
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 utility model discloses a double -core servo control system based on full automatic fire extinguishing robot of two -wheeled intermediate speed, include: microprocessing unit, detection sensor unit, triaxial acceleration sensor, with gyroscope, vacuum suction unit, burning things which may cause a fire disaster acquisition unit and control motor, microprocessing unit includes main control chip and STM32 controller, the control motor includes micro direct current motor, lift direct current motor, first motor and second motor, micro direct current motor with the vacuum suction unit is connected, be connected with extinguishing device on the lift direct current motor. In this way, the utility model discloses double -core servo control system based on full automatic fire extinguishing robot of two -wheeled intermediate speed has improved the machine people's that puts out a fire flexibility ratio and accuracy, has improved the operational speed simultaneously, in addition, through play skid -proof effect based on micro direct current motor's absorption unit, the machine people servo control system's that guarantees to put out a fire stability and reliability.

Description

Based on the double-core servo-control system of two-wheeled middling speed full-automatic fire-extinguishing machine people
Technical field
The utility model relates to multi-axis robot field, particularly relates to a kind of double-core servo-control system based on two-wheeled middling speed full-automatic fire-extinguishing machine people.
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.
(4) owing to adopting stepper motor, the mechanical noise that system is operated increases greatly, is unfavorable for environmental protection.
(5) owing to adopting stepper motor, its motor body is all generally heterogeneous structure, and control circuit needs to adopt multiple power tube, makes control circuit relatively complicated, and adds controller price.
(6) 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.
(9) 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.
(10) what relatively adopt is all the plug-in components that some volume ratios are larger, and make firefighting robot control system take larger space, weight is relatively all heavier.
(11) 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.
(12) 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.
(13) 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.
(14) 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.
(15) 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 middling speed two-wheeled firefighting robot servo-drive system in reality.
Utility model content
The technical problem that the utility model mainly solves is to provide a kind of double-core servo-control system based on two-wheeled middling speed full-automatic fire-extinguishing machine people, 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 utility model adopts is:
A kind of double-core servo-control system based on two-wheeled middling speed full-automatic fire-extinguishing machine people is provided, it comprises: microprocessing unit, lithium battery, acquisition sensor unit, for measure firefighting robot acceleration 3-axis acceleration sensor, for measuring the gyroscope of firefighting robot angular speed, vacuum draw unit, burning things which may cause a fire disaster collecting unit and controlling motor
Described microprocessing unit comprise to described control motor carry out SERVO CONTROL adjustment main control chip and for the treatment of main control chip control logic, the STM32 controller realizing data communication and signal storage, described main control chip have employed MC58113 chip, described STM32 controller have employed STM32F407 controller
Described control motor comprises DC micromotor, lifting direct current generator, the first motor and the second motor, described DC micromotor is connected with described vacuum draw unit, described lifting direct current generator is connected with extinguishing device, described first motor is connected with the X wheel of firefighting robot, described second motor is connected with the Y wheel of firefighting robot
Described microprocessing unit is connected with described control motor with described acquisition sensor unit, lithium battery, described 3-axis acceleration sensor, described gyroscope, described vacuum draw unit, described burning things which may cause a fire disaster collecting unit respectively.
In the utility model preferred embodiment, described microprocessing unit sends the first control signal, the second control signal, the 3rd control signal and the 4th control signal respectively.
In the utility model preferred embodiment, described first control signal, the second control signal, the 3rd control signal and the 4th control signal control respectively the first described motor, the second motor, DC micromotor, lifting direct current generator signal syntheses and control the motion of firefighting robot.
In the utility model preferred embodiment, described acquisition sensor unit comprises 6 ultrasonic sensors.
In the utility model preferred embodiment, described vacuum draw unit comprises vacuum aspirator and vacuum cup.
In the utility model preferred embodiment, described first motor and described second motor are DC brushless motor.
In the utility model preferred embodiment, described first motor and described second motor are all connected with photoelectric encoder.
In the utility model preferred embodiment, described burning things which may cause a fire disaster collecting unit comprises photoelectricity harvester and image collecting device.
In the utility model preferred embodiment, the inside of described processor is also provided with master system and kinetic control system, described host computer procedure module comprises room and explores module, room storage module, path read module, human-computer interface module and online output module, described motion control program module comprises based on MC58113 tetra-axle synchronized mixes direct current mixing servo control module, coordinate setting module, I/O control module and image capture module, described comprising based on MC58113 tetra-axle synchronized mixes 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 the utility model preferred embodiment, also comprise voltage sensor, the first current sensor and described second current sensor, described voltage sensor, the first current sensor are all connected with described microprocessing unit with described second current sensor.
The beneficial effects of the utility model are: the flexibility ratio and the accuracy that improve firefighting robot, improve arithmetic speed simultaneously, in addition, by playing anti-skidding effect based on the absorbing unit of DC micromotor, ensure stability and the reliability of firefighting robot servo-control system.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the utility model embodiment, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, 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 the room schematic diagram of firefighting robot fire extinguishing;
Fig. 2 is the schematic diagram based on monolithic processor controlled two-wheeled firefighting robot;
Fig. 3 is the two-dimensional structure figure based on two-wheeled middling speed full-automatic fire-extinguishing machine people;
Fig. 4 is the schematic diagram based on two-wheeled middling speed full-automatic fire-extinguishing machine people;
Fig. 5 is the double-core servo-control system block diagram based on two-wheeled middling speed full-automatic fire-extinguishing machine people;
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 utility model embodiment below, obviously, described embodiment is only a part of embodiment of the present utility model, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making other embodiments all obtained under creative work prerequisite, all belong to the scope of the utility model protection.
Refer to Fig. 1-8, the utility model embodiment comprises:
A kind of double-core servo-control system based on two-wheeled middling speed full-automatic fire-extinguishing machine people, it comprises: microprocessing unit, acquisition sensor unit, 3-axis acceleration sensor A1, for measuring the gyroscope G1 of firefighting robot angular speed, vacuum draw unit, burning things which may cause a fire disaster collecting unit and controlling motor, described vacuum draw unit comprises vacuum aspirator and vacuum cup, and described burning things which may cause a fire disaster collecting unit comprises photoelectricity harvester and image collecting device.
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 utility model adds three axis accelerometer sensors A 1 and gyroscope G1 in firefighting robot servo hardware system.During firefighting robot walking room, whole process opens acceleration and the angular speed that acceierometer sensor A1 and gyroscope G1, acceierometer sensor A1 and gyroscope G1 are used for measuring firefighting robot three directions of advance.Controller obtains angle information according to the angular velocity signal recorded by integral approach.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 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 utility model 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 motor movement directions contrary for controller, original place rotates an angle, makes image capturing system can gather burning things which may cause a fire disaster information accurately; After burning things which may cause a fire disaster information is determined, controller controls an other lifting direct current generator E according to image taking results and works, and according to the highly automated rising of burning things which may cause a fire disaster or the height reducing dry-ice fire extinguisher, makes dry ice spraying altitude just aim at fire's point of origin.
Described microprocessing unit comprise to described control motor carry out SERVO CONTROL adjustment main control chip and for the treatment of main control chip control logic, the STM32 controller realizing data communication and signal storage, described main control chip have employed MC58113 chip, and described STM32 controller have employed STM32F407 controller.
In order to improve arithmetic speed, ensure stability and the reliability of two-wheeled firefighting robot system, the utility model introduces precise flange special chip MC58113 in based on the controller of STM32F407, form the brand-new dual-core controller based on STM32F407+ special sport control chip, introduce vacuum suction technology from dual-core controller, introducing acceleration and velocity sensor carry out secondary attitude updating simultaneously.This controller takes into full account the effect of battery in this system, MC58113 process is given four maximum for workload in control system axle servo-drive systems, give full play to MC58113 as the advantage of servo controller and the comparatively faster feature of STM32F407 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.
The utility model is overcome single-chip microcomputer can not meet the stability of diaxon firefighting robot walking and the requirement of rapidity, give up the single single-chip microcomputer mode of operation that domestic firefighting robot adopts, under the prerequisite absorbing external Dynamic matrix control thought, autonomous utility model is based on the two-wheeled double-core brand-new control model of STM32F407+MC58113.Control panel take MC58113 as process core, initializes the servo-controlled data signal of four axles realizing diaxon DC brushless motor and diaxon direct current generator and processes in real time, and respond various interruption, realize the real-time storage of data-signal by STM32F407 to it.Dual-core controller frees STM32F407 in the middle of the work of complexity, realize the signal processing algorithm of part and the control logic of MC58113, and response is interrupted, and realizes data communication and stores live signal.
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.
MC5X000 movement sequence control chip is the third generation SERVO CONTROL chip that PMD company develops based on High Performance Motion Control, has been widely used in the application of medical treatment, science, Automated condtrol and robot.Can realize single shaft control and multi-axle motor control in single-chip, Mc5X000 family chip is programming device, can control for the position of direct current generator, DC brushless motor and stepper motor, speed.MC5X000 family chip can pass through SPI(Serial Peripheral Interface (SPI)), CAN2.0B, or RS232/485 serial line interface establishes communication with main.Its inside comprises S shape and trapezoidal generator.According to dissimilar Electric Machine Control requirement, MC58000 family chip can realize SERVO CONTROL, speed regulates or for the pulse/direction controlling of stepper motor, integrated chip overcurrent protection simultaneously, overvoltage/under-voltage protection and overheat protector etc.The MC5X000 movement sequence control chip of all PMD provides one and initializes and arrange with powerful instruction set and controlled motion axle flexibly, and has supervision performance, and adds the synchronous function of each axle, and this point is superior to LM629 far away.
MC5X113 movement sequence control chip has four sections: wherein MC51113 realizes the control of direct current generator, MC53113 realizes the control of three-phase brushless dc motor, MC54113 realizes the control of two-phase stepping motor, and MC58113 can adopt software design patterns to control to select direct current generator, three-phase direct-current brushless motor and two-phase stepping motor motor according to actual needs.This software programming of MC58113 selects motor type mode to be applicable to very much the control of the different motor of multiaxis.Comprehensive needs of the present utility model, select MC58113 as SERVO CONTROL adjuster, and carry out communication and data call by serial port and STM32F407.
Described control motor comprises DC micromotor M, lifting direct current generator E, the first motor and the second motor, and described first motor and described second motor are DC brushless motor, and described first motor and described second motor are all connected with photoelectric encoder.Described DC micromotor is connected with described vacuum draw unit, and described lifting direct current generator is connected with extinguishing device, and described first motor is connected with the X wheel of firefighting robot, and described second motor is connected with the Y wheel of firefighting robot.
Described microprocessing unit is connected with described control motor with described acquisition sensor unit, described 3-axis acceleration sensor, described gyroscope, described vacuum draw unit, described burning things which may cause a fire disaster collecting unit respectively.
Described acquisition sensor unit comprises 6 ultrasonic sensors, i.e. sensor S1, sensor S2, sensor S3, sensor S4, sensor S5 and sensor S6.
In order to room accurately can be sought and find burning things which may cause a fire disaster fast, the utility model adopts six groups of sensor detection room mode, the firefighting robot two-dimensional structure of institute's utility model 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 utility model 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.
Also comprise cell apparatus, voltage sensor V1, the first current sensor C1 and described second current sensor C2, described cell apparatus is connected with described microprocessing unit, and described voltage sensor, the first current sensor are all connected with described microprocessing unit with described second current sensor.
Concrete implementation step based on the double-core servo-control system of two-wheeled middling speed full-automatic fire-extinguishing machine people is:
For the STM32F407+MC58113 controller designed herein, under power-on state, firefighting robot is introduced into self-locking state.Firefighting robot is by ultrasonic sensor S1, S6 judges forward environment, actual navigational environment is converted into controling parameters and is transferred to STM32F407, STM32F407 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, STM32F407 then with MC58113 communication, MC58113 generates in conjunction with the feedback of motor photoelectric encoder the pwm control signal controlling motor X and motor Y again, control signal is moved before drive axle amplification rear drive motor X and motor Y-direction, accelerometer A1 and gyroscope G1 and photoelectric encoder in real time the signal feedback recorded to STM32F407, by the attitude of microprocessor secondary correction firefighting robot.Firefighting robot is in motion process, and controller regulates vacuum plant to the adsorption capacity on ground by motor M according to firefighting robot movement velocity automatically, increases and effectively rubs, and prevents firefighting robot to walk fast skidding, and 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, controller 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 middling speed full-automatic fire-extinguishing machine people is as follows:
1) in order to two-wheeled firefighting robot can be driven to move, this control system introduces a slice MC58113, but enter real-time communication by I/O mouth and STM32F407, realize its control to diaxon DC brushless motor and diaxon direct current generator by STM32F407 by initializing it, and open its four spindle motors synchronizing function.
2) opening power moment, STM32F407 can detect cell voltage, if low pressure, STM32F407 will block the PWM wave control signal of DC brushless motor X and DC brushless motor Y by MC58113, motor can not start, voltage sensor V1 is by work simultaneously, and sends alarm signal.If system voltage is normal, first controller opens vacuum draw direct current generator M by MC58113, first micro vacuum sucker is aspirated by aspirator, make vacuum cup over the ground mask have certain absorption affinity, controller also detects in real time, if ground is unclean, system can strengthen vacuum cup to the absorption affinity on ground by self-regulation motor M.
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 rotated forward by the input control DC brushless motor X of adjustment MC58113, DC brushless motor Y reverses, firefighting robot 90-degree rotation to the right under the control of acceleration transducer A1 and gyroscope G1, 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 and feed back to MC58113, position signalling A pulse and the B pulsed logic state of photoelectric encoder often change once, and the location register of MC58113 can add 1 or subtract 1 according to the traffic direction of motor X and 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 MC58113 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 fire extinguishing 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 fire extinguishing 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 STM32F407 the location parameter of the lattice that travel forward, STM32F407 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, STM32F407 then with MC58113 communication, MC58113 generates in conjunction with the feedback of motor photoelectric encoder the pwm control signal controlling DC brushless motor X and DC brushless motor Y again, 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 and gyroscope G1 record the real-time acceleration of firefighting robot and angular velocity signal and give controller, controller obtains instantaneous angular information by integration, controller 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 STM32F407 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, STM32F407 then with MC58113 communication, MC58113 is again in conjunction with the feedback of motor photoelectric encoder, 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, by STM32F407 according to exploration controller speed and acceleration requirement, stopping distance parameter is forward converted into the position that firefighting robot DC brushless motor X and DC brushless motor Y will run, speed and acceleration command value, STM32F407 then with MC58113 communication, MC58113 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, and 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 and gyroscope G1 record the real-time acceleration of firefighting robot and angular velocity signal and give controller, controller obtains instantaneous angular information by integration, controller 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 STM32F407 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, STM32F407 then with MC58113 communication, MC58113 is again in conjunction with the feedback of motor photoelectric encoder, 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 motors by MC58113 exports, make two non-brush permanent-magnet DC motor directions of motion contrary, firefighting robot original place realizes accurate 180 degree, original place and turns under the control of accelerometer sensor A1, gyroscope G1, 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 of left and right 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;
When turning right, first STM32F407 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, STM32F407 then with MC58113 communication, MC58113 generates in conjunction with the feedback of motor photoelectric encoder the pwm control signal controlling DC brushless motor X and DC brushless motor Y again, 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 and gyroscope G1 record the real-time acceleration of firefighting robot and angular velocity signal and give controller, controller obtains instantaneous angular information by integration, controller 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 STM32F407 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, STM32F407 then with MC58113 communication, MC58113 is again in conjunction with the feedback of motor photoelectric encoder, 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 motor X and 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 STM32F407 requires to be converted into according to the different search speed of controller and acceleration the position that firefighting robot DC brushless motor X and DC brushless motor Y will run radian ARC, speed and acceleration command value, STM32F407 then with MC58113 communication, MC58113 generates in conjunction with the feedback of motor photoelectric encoder the pwm control signal controlling DC brushless motor X and DC brushless motor Y again, PWM wave control signal is promoted firefighting robot after being amplified by drive axle and completes search of turning.In firefighting robot turning search process, sensor S2, S3, S4, S5 cannot provide reference by location for system, and system relies on gyroscope G1 to carry out position correction.Its instantaneous velocity of gyroscope G1 real time record in firefighting robot fast searching turning process, then controller obtains its positional information by integration, and by the angle contrast with desired location, when firefighting robot fast searching has departed from desired location, within the new sampling period, STM32F407 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, STM32F407 then with MC58113 communication, MC58113 is again in conjunction with the feedback of motor photoelectric encoder, 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 ARC,
When after arrival set objective, system relies on sensor S2, S3 starts navigation, controller 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, STM32F407 then with MC58113 communication, MC58113 generates in conjunction with the feedback of motor photoelectric encoder the pwm control signal controlling motor X and motor Y again, 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 and gyroscope G1 record the real-time acceleration of firefighting robot and angular velocity signal and give controller, controller obtains instantaneous angular information by integration, controller 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 STM32F407 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, STM32F407 then with MC58113 communication, MC58113 is again in conjunction with the feedback of motor photoelectric encoder, 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;
When turning left, it is similar with right-hand rotation that controller controls motor walking rule.After arriving set objective by three-stage process, 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, STM32F407 is according to the anglec of rotation, angular acceleration requirement, this angle is converted into angle, angular speed, angular acceleration command value, then with MC58113 communication, MC58113 is in conjunction with the feedback of motor 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 controls, firefighting robot starts the angle between original place rotation adjustment nozzle and candle, when after arrival set angle, controller makes the self-locking of firefighting robot original place,
STM32F407 is according to the difference in height between image capturing system determination nozzle and burning things which may cause a fire disaster, STM32F407 is according to distance, speed, acceleration requirement, this difference in height is converted into position, speed, acceleration command value, then with MC58113 communication, MC58113 is in conjunction with the feedback of the photoelectric encoder of motor E, 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, STM32F407 adjusts the PWM wave control signal of DC brushless motor X and DC brushless motor Y automatically by MC58113, motor X is reversed, motor Y rotates forward, and under accelerometer A1 and gyroscope G1 controls, firefighting robot starts original place rotation, and returns to the position just entering palace,
If photoelectric sensor S7 does not capture the light source under new coordinate, firefighting robot will leave current room lattice, 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) in firefighting robot room search process, STM32F407 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, controller can utilize the relation of direct current generator moment and electric current to carry out linear compensation to interference, effectively reduce motor torque shake to the impact of navigating during firefighting robot rapid discovery, add its antijamming capability.
15) starting point (0 is got back to when firefighting robot completes whole return trip, 0), control MC58113 makes firefighting robot central point stop by STM32F407, and readjust MC58113 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 turnback is revolved in original place, original place self-locking, waits for next seek command.
The utility model based on the beneficial effect of the double-core servo-control system of two-wheeled middling speed full-automatic fire-extinguishing machine people 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+MC58113 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 MC58113 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 utility model 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 MC58113 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, STM32F407 can adjust the inner servo-controlled pid parameter of MC58113 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 middling speed operation hourly velocity.
9, three axis accelerometer A1 and gyroscope G1 is introduced at this firefighting robot system, the angle information of firefighting robot can be obtained by integration, achieve the detection of instantaneous acceleration when firefighting robot is explored in room, speed, 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, STM32F407 can carry out on-line identification to the torque of high-speed DC brushless electric machine X, brshless DC motor Y and direct current generator M and utilize the relation of motor torque and electric current to compensate by MC58113, 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 MC58113 according to position, the speed of STM32F407 with acceleration is given and photoelectric encoder information exports PWM modulation signal and direction signal, can direct-driving motor by drive circuit, not only alleviate the burden of STM32F407, simplify interface circuit, and eliminate STM32F407 internal composition position, speeds control program, and the trouble of various pid algorithm, make the debugging of system simple.
12: adding of IMAQ effectively can catch burning things which may cause a fire disaster, reduce external interference to the maloperation of robot.
13: regulate the direction of motion of DC brushless motor X and DC brushless motor Y contrary, can be obtained the angle of firefighting robot rotation by integrating accelerometer A1, 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.
14: 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 embodiment of the present utility model; not thereby the scope of the claims of the present utility model is limited; every utilize the utility model description 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 utility model.

Claims (10)

1. the double-core servo-control system based on two-wheeled middling speed full-automatic fire-extinguishing machine people, it is characterized in that, comprise: microprocessing unit, lithium battery, acquisition sensor unit, for measure firefighting robot acceleration 3-axis acceleration sensor, for measuring the gyroscope of firefighting robot angular speed, vacuum draw unit, burning things which may cause a fire disaster collecting unit and controlling motor
Described microprocessing unit comprise to described control motor carry out SERVO CONTROL adjustment main control chip and for the treatment of main control chip control logic, the STM32 controller realizing data communication and signal storage, described main control chip have employed MC58113 chip, described STM32 controller have employed STM32F407 controller
Described control motor comprises DC micromotor, lifting direct current generator, the first motor and the second motor, described DC micromotor is connected with described vacuum draw unit, described lifting direct current generator is connected with extinguishing device, described first motor is connected with the X wheel of firefighting robot, described second motor is connected with the Y wheel of firefighting robot
Described microprocessing unit is connected with described control motor with described acquisition sensor unit, lithium battery, described 3-axis acceleration sensor, described gyroscope, described vacuum draw unit, described burning things which may cause a fire disaster collecting unit respectively.
2. the double-core servo-control system based on two-wheeled middling speed full-automatic fire-extinguishing machine people according to claim 1, is characterized in that, described microprocessing unit sends the first control signal, the second control signal, the 3rd control signal and the 4th control signal respectively.
3. the double-core servo-control system based on two-wheeled middling speed full-automatic fire-extinguishing machine people according to claim 2, it is characterized in that, described first control signal, the second control signal, the 3rd control signal and the 4th control signal control respectively the first described motor, the second motor, DC micromotor, lifting direct current generator signal syntheses and control the motion of firefighting robot.
4. the double-core servo-control system based on two-wheeled middling speed full-automatic fire-extinguishing machine people according to claim 1, it is characterized in that, described acquisition sensor unit comprises 6 ultrasonic sensors.
5. the double-core servo-control system based on two-wheeled middling speed full-automatic fire-extinguishing machine people according to claim 1, it is characterized in that, described vacuum draw unit comprises vacuum aspirator and vacuum cup.
6. the double-core servo-control system based on two-wheeled middling speed full-automatic fire-extinguishing machine people according to claim 1, is characterized in that, described first motor and described second motor are DC brushless motor.
7. the double-core servo-control system based on two-wheeled middling speed full-automatic fire-extinguishing machine people according to claim 6, is characterized in that, described first motor and described second motor are all connected with photoelectric encoder.
8. the double-core servo-control system based on two-wheeled middling speed full-automatic fire-extinguishing machine people according to claim 1, it is characterized in that, described burning things which may cause a fire disaster collecting unit comprises photoelectricity harvester and image collecting device.
9. the double-core servo-control system based on two-wheeled middling speed full-automatic fire-extinguishing machine people according to claim 1, it is characterized in that, the inside of described processor is also provided with master system and kinetic control system, described host computer procedure module comprises room and explores module, room storage module, path read module, human-computer interface module and online output module, described motion control program module comprises based on MC58113 tetra-axle synchronized mixes direct current mixing servo control module, coordinate setting module, I/O control module and image capture module, described comprising based on MC58113 tetra-axle synchronized mixes 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.
10. the double-core servo-control system based on two-wheeled middling speed full-automatic fire-extinguishing machine people according to claim 1, it is characterized in that, also comprise voltage sensor, the first current sensor and described second current sensor, described voltage sensor, the first current sensor are all connected with described microprocessing unit with described second current sensor.
CN201520638145.4U 2015-08-24 2015-08-24 Double -core servo control system based on full automatic fire extinguishing robot of two -wheeled intermediate speed Expired - Fee Related CN205055284U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105138017A (en) * 2015-08-24 2015-12-09 铜陵学院 Double-core servo control system based on two wheel intermediate speed automatic fire extinguishing robot
CN107193277A (en) * 2017-05-05 2017-09-22 宁波华狮智能科技有限公司 Autonomous detects the fire-fighting robot and control method of fire extinguishing automatically

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105138017A (en) * 2015-08-24 2015-12-09 铜陵学院 Double-core servo control system based on two wheel intermediate speed automatic fire extinguishing robot
CN107193277A (en) * 2017-05-05 2017-09-22 宁波华狮智能科技有限公司 Autonomous detects the fire-fighting robot and control method of fire extinguishing automatically

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