CN105005318A - Fully automatic four-wheel low speed fire extinguishing robot servo controller - Google Patents
Fully automatic four-wheel low speed fire extinguishing robot servo controller Download PDFInfo
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- CN105005318A CN105005318A CN201510519561.7A CN201510519561A CN105005318A CN 105005318 A CN105005318 A CN 105005318A CN 201510519561 A CN201510519561 A CN 201510519561A CN 105005318 A CN105005318 A CN 105005318A
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Abstract
The present invention discloses a fully automatic four-wheel low speed fire extinguishing robot servo controller which comprises a power supply device, an STM32F407 chip, a sensing module, an image acquisition module, a three-axis accelerometer sensor and a motor assembly. The power supply device is electrically connected to the STM32F407 chip. The sensing module, the image acquisition module, and the three-axis accelerometer sensor are in communication connection with the STM32F407 chip. Through the above mode, the fully automatic four-wheel low speed fire extinguishing robot servo controller is formed through the STM32F407 chip and has certain adsorption ability to the ground through a vacuum suction device, the walking skid of a fire extinguishing robot is solve thoroughly, the fully automatic four-wheel low speed fire extinguishing robot servo controller has the advantages of novel structure, simple control, faster speed, space saving, steady speed regulation, strong anti-interference ability and high stability, and the popularity of the controller has a broad market prospect.
Description
Technical field
The present invention relates to robot controller field, particularly relate to a kind of full-automatic four-wheel low speed firefighting robot servo controller.
Background technology
Firefighting robot is that in one, in simulating reality life, the mankind find harmful burning things which may cause a fire disaster and can a kind of Intelligent Robot of automatic distinguishing burning things which may cause a fire disaster.Generally, match type firefighting robot can move in a planar structure house model, finds a candle representing burning things which may cause a fire disaster and it extinguished under working rule instructs with the shortest time.The process of robot process fire alarm in simulating reality family.Candle represents the burning things which may cause a fire disaster that family is lighted, and robot must find and extinguish burning things which may cause a fire disaster.The bottom of candle flame is by overhead 15 ~ 20cm is high.Candle is the Chinese wax candle of diameter 1-2cm.The exact height of candle flame and size are uncertain, changes, and are determined by the environment of candle condition and surrounding.Candle will be placed in a room of competition area randomly, regardless of flame specifically what size after match starts, all requires that robot can find candle.
In real match, in order to strengthen competition difficulty, competition area are divided into the mode standard of n*n lattice, and what the most often adopt is the uniform pattern of 8*8 lattice, and its competition area two-dimensional structure as shown in Figure 2, 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. 2, 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 manual control, searching the stability in burning things which may cause a fire disaster process to test firefighting robot, it cannot collide or contact wall, otherwise will be caught a packet.
A complete firefighting robot is roughly divided into following components:
1) motor: actuating motor is the power source of firefighting robot, it performs according to the instruction of microprocessor the relevant action that firefighting robot walks on two dimensional surface.
2) algorithm: algorithm is the soul of firefighting robot.Firefighting robot must adopt certain intelligent algorithm could arrive the motion in another one room quickly and accurately from a room, then finds burning things which may cause a fire disaster, and opens self-contained dry ice controller, put out burning things which may cause a fire disaster.
3) microprocessor: microprocessor is the core of firefighting robot 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. 1, and long-play finds to there is a lot of safety problem, that is:
(1) mostly what adopt as the topworks of firefighting robot is stepper motor; often can run into pulse-losing causes motor desynchronizing phenomenon to occur, and cause occurring mistake to the memory of position, firefighting robot cannot seek burning things which may cause a fire disaster; or starting point cannot be got back to by robot after fire extinguishing
(2) owing to adopting stepper motor, make organism fever relatively more serious, need sometimes to carry out installing heat abstractor additional, robot overall weight is increased,
(3) owing to adopting stepper motor, the mechanical noise that system is operated increases greatly, is unfavorable for environmental protection,
(4) owing to adopting stepper motor, the occasion that system is generally not suitable for speed is higher is run, and easily produces vibration, sometimes may contact wall during low-speed motion, causes finding burning things which may cause a fire disaster failure,
(5) because firefighting robot will brake frequently and start, increased the weight of the workload of single-chip microcomputer, single single-chip microcomputer cannot meet the requirement that firefighting robot starts fast and stops,
(6) what relatively adopt is all the plug-in components that some volume ratios are larger, and make firefighting robot control system take larger space, weight is relatively all heavier,
(7) owing to disturbing by surrounding environment labile factor, singlechip controller often there will be exception, and cause firefighting robot out of control, antijamming capability is poor,
(8) burning things which may cause a fire disaster process is found for two-wheeled firefighting robot, the pwm control signal of two motor of General Requirements wants synchronous, due to the restriction by single-chip microcomputer computing power, single single-chip microcomputer servo-drive system is difficult to meet this condition, firefighting robot walking navigation is made to be difficult to control, particularly for worse off cake when walking fast
(9) 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,
(10) in actual fire extinguishing procedure, due to the burning of candle, it is highly also changing, 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
(11) 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.
Relative to two-wheeled bearing structure, four wheel constructions have that load-bearing capacity is stronger, translational speed is fast, control performance is excellent, work efficiency advantages of higher.In order to the adaptive faculty of firefighting robot to complex environment better can be improved, available four wheel constructions substitute original two wheel constructions, therefore, need to redesign based on monolithic processor controlled two-wheeled firefighting robot controller existing, seek a kind of economic and practical can use low speed full-automatic four-wheel firefighting robot servo-drive system in reality.
Summary of the invention
The technical matters that the present invention mainly solves is to provide a kind of full-automatic four-wheel low speed firefighting robot servo controller, vacuum suction technology is introduced in based on the controller of STM32F407, introduce acceierometer sensor simultaneously and carry out secondary attitude correction, this controller takes into full account the effect of battery in this system, STM32F407 process is given six maximum for workload in control system axle servo-drive systems, give full play to the comparatively faster feature of STM32F407 data processing speed, thus realize firefighting robot man-machine interface fast, room reads, room storage, coordinate setting, I/O controls, figure gathers, the functions such as burning things which may cause a fire disaster discovery and fire extinguishing, market outlook are widely had popularizing of full-automatic four-wheel low speed firefighting robot servo controller.
For solving the problems of the technologies described above, the invention provides a kind of full-automatic four-wheel low speed firefighting robot servo controller, comprising: electric supply installation, STM32F407 sensing chip assembly, image collection assembly, 3-axis acceleration flowmeter sensor and electric machine assembly,
Described electric supply installation is electrically connected described STM32F407 chip, described sensory package, described image collection assembly, the equal communication of described 3-axis acceleration flowmeter sensor connects described STM32F407 chip, described STM32F407 chip draws velocity information by the integrated acceleration of the firefighting robot of described three axis accelerometer sensor feedback and quadratic integral, positional information is to carry out position compensation, the output terminal communication of described STM32F407 chip connects and electric machine assembly described in drived control, described electric machine assembly comprises micromachine and lifting motor, described micromachine is connected with vacuum suction apparatus and micro vacuum sucker, described micromachine aspirates the air in described micro vacuum sucker by described vacuum suction apparatus, make described micro vacuum sucker produce external and internal pressure difference and form negative pressure, to increase adsorptive power, prevent from skidding, described lifting motor is connected with extinguishing device,
Described sensory package comprises photoelectric sensor, and described image capture module communication connects the output terminal of described photoelectric sensor, triggers and open described image capture module after described photoelectric sensor senses burning things which may cause a fire disaster signal.
In a preferred embodiment of the present invention, described electric supply installation is lithium battery.
In a preferred embodiment of the present invention, described sensory package also comprises first sensor, the second sensor, the 3rd sensor, four-sensor, the 5th sensor and the 6th sensor, and described first sensor, the second sensor, the 3rd sensor, four-sensor, the 5th sensor, the 6th sensor are ultrasonic sensor.
In a preferred embodiment of the present invention, described first sensor and described 6th sensor are with the use of responding to the obstacle judging front, described second sensor and described 3rd sensor are with the use of responding to the obstacle judging left, described four-sensor and described 5th sensor are with the use of responding to the obstacle judging right, described second sensor and described 3rd sensor diverse location accurately measure on the left of room from have barricade to without barricade or without barricade to the change having barricade, described four-sensor and described 5th sensor diverse location accurately measure on the right side of room from have barricade to without barricade or without barricade to the change having barricade, and described signal is sent to described STM32F407 chip and carries out fine compensation.
In a preferred embodiment of the present invention, described electric machine assembly also comprises front revolver motor, front right wheel motor, rear revolver motor and rear right wheel motor, the motion of described front revolver motor, front right wheel motor, rear revolver motor and rear right wheel the motor respectively front revolver of firefighting robot described in connection control, front right wheel, rear revolver and rear right wheel.
In a preferred embodiment of the present invention, described front revolver motor, front right wheel motor, rear revolver motor, rear right wheel motor, micromachine and lifting motor are DC brushless motor.
In a preferred embodiment of the present invention, also comprise photoelectric encoder, described photoelectric encoder is separately positioned on described front revolver motor, front right wheel motor, rear revolver motor, rear right wheel motor, micromachine and lifting motor.
In a preferred embodiment of the present invention, between described electric machine assembly and described STM32F407 chip, be provided with signal amplifying apparatus.
In a preferred embodiment of the present invention, described in described STM32F407 chip drives, the signal of electric machine assembly is PWM wave control signal.
In a preferred embodiment of the present invention, the inside of described STM32F407 chip is also provided with master system and kinetic control system, described master system comprises room and explores module, room storage module, path read module, human-computer interface module and online output module, described kinetic control system comprises the synchronous brush DC of six axles and direct current mixing servo control module, coordinate setting module, I/O control module and image capture module, wherein, the synchronous brush DC of described six axle and direct current mixing servo control module comprise searches servo control module based on four axle DC brushless motor firefighting robots, single axle vacuum sucker suction servo control module and flame snuffer single shaft lift servo control module.
The invention has the beneficial effects as follows: the present invention's full-automatic four-wheel low speed firefighting robot servo controller has novel structure, control is simple, speed promotes, save space, speed governing is steady, antijamming capability is strong, stability advantages of higher, has market outlook widely popularizing of full-automatic four-wheel low speed firefighting robot servo controller.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings, wherein:
Fig. 1 is the schematic diagram of prior art based on monolithic processor controlled two-wheeled firefighting robot;
Fig. 2 is the room schematic diagram of full-automatic four-wheel low speed firefighting robot servo controller one of the present invention preferred embodiment;
Fig. 3 is the structural representation of full-automatic four-wheel low speed firefighting robot one of the present invention preferred embodiment;
Fig. 4 is the schematic diagram of full-automatic four-wheel low speed firefighting robot one of the present invention preferred embodiment;
Fig. 5 is the procedure chart of full-automatic four-wheel low speed firefighting robot servo controller one of the present invention preferred embodiment;
Fig. 6 is the traffic direction schematic diagram of full-automatic four-wheel low speed firefighting robot one of the present invention preferred embodiment;
Fig. 7 is the right-hand rotation schematic diagram of full-automatic four-wheel low speed firefighting robot one of the present invention preferred embodiment;
Fig. 8 is the left-hand rotation schematic diagram of full-automatic four-wheel low speed firefighting robot one of the present invention preferred embodiment.
Embodiment
Be clearly and completely described to the technical scheme in the embodiment of the present invention below, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
Refer to Fig. 2-Fig. 8, the embodiment of the present invention comprises:
A kind of full-automatic four-wheel low speed firefighting robot servo controller, comprising: electric supply installation, STM32F407 sensing chip assembly, image collection assembly, 3-axis acceleration flowmeter sensor and electric machine assembly,
Described electric supply installation is electrically connected described STM32F407 chip, described sensory package, described image collection assembly, the equal communication of described 3-axis acceleration flowmeter sensor connects described STM32F407 chip, described STM32F407 chip draws velocity information by the integrated acceleration of the firefighting robot of described three axis accelerometer sensor feedback and quadratic integral, positional information is to carry out position compensation, the output terminal communication of described STM32F407 chip connects and electric machine assembly described in drived control, described electric machine assembly comprises micromachine and lifting motor, described micromachine is connected with vacuum suction apparatus and micro vacuum sucker, described micromachine aspirates the air in described micro vacuum sucker by described vacuum suction apparatus, make described micro vacuum sucker produce external and internal pressure difference and form negative pressure, to increase adsorptive power, prevent from skidding, described lifting motor is connected with extinguishing device,
Described sensory package comprises photoelectric sensor, and described image capture module communication connects the output terminal of described photoelectric sensor, triggers and open described image capture module after described photoelectric sensor senses burning things which may cause a fire disaster signal.
Preferably, described electric supply installation is lithium battery.
Preferably, described sensory package also comprises first sensor, the second sensor, the 3rd sensor, four-sensor, the 5th sensor and the 6th sensor, and described first sensor, the second sensor, the 3rd sensor, four-sensor, the 5th sensor, the 6th sensor are ultrasonic sensor.
Preferably, described first sensor and described 6th sensor are with the use of responding to the obstacle judging front, described second sensor and described 3rd sensor are with the use of responding to the obstacle judging left, described four-sensor and described 5th sensor are with the use of responding to the obstacle judging right, described second sensor and described 3rd sensor diverse location accurately measure on the left of room from have barricade to without barricade or without barricade to the change having barricade, described four-sensor and described 5th sensor diverse location accurately measure on the right side of room from have barricade to without barricade or without barricade to the change having barricade, and described signal is sent to described STM32F407 chip and carries out fine compensation.
Preferably, described electric machine assembly also comprises front revolver motor, front right wheel motor, rear revolver motor and rear right wheel motor, the motion of described front revolver motor, front right wheel motor, rear revolver motor and rear right wheel the motor respectively front revolver of firefighting robot described in connection control, front right wheel, rear revolver and rear right wheel.
Preferably, described front revolver motor, front right wheel motor, rear revolver motor, rear right wheel motor, micromachine and lifting motor are DC brushless motor.
Preferably, also comprise photoelectric encoder, described photoelectric encoder is separately positioned on described front revolver motor, front right wheel motor, rear revolver motor, rear right wheel motor, micromachine and lifting motor.
Preferably, signal amplifying apparatus is provided with between described electric machine assembly and described STM32F407 chip.
Preferably, described in described STM32F407 chip drives, the signal of electric machine assembly is PWM wave control signal.
Preferably, the inside of described STM32F407 chip is also provided with master system and kinetic control system, described master system comprises room and explores module, room storage module, path read module, human-computer interface module and online output module, described kinetic control system comprises the synchronous brush DC of six axles and direct current mixing servo control module, coordinate setting module, I/O control module and image capture module, wherein, the synchronous brush DC of described six axle and direct current mixing servo control module comprise searches servo control module based on four axle DC brushless motor firefighting robots, single axle vacuum sucker suction servo control module and flame snuffer single shaft lift servo control module.
STM32F4 series is except pin and the high performance F2 series of softwarecompatible, the dominant frequency (168MHz) of F4 is higher than F2 series (120MHz), and support the peripheral hardware that monocycle DSP instruction and floating point unit, larger SRAM capacity (192 KB, F2 are 128 KB), 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 ARM Cortex M4 kernel, has increased signal processing function newly, and has improve travelling speed in existing outstanding STM32 microcontroller products combination; STM32F405x is integrated with timer, 3 ADC, 2 DAC, serial line interface, external memory interface, real-time clock, CRC computing unit and simulates real randomizers at the advanced peripheral hardware of interior the whole series.STM32F407 adds multiple advanced peripheral hardware on STM32F405 product basis.These performances make F4 series can be easier to meet the Digital Signals demand of control and signal processing function mixing.The combination of the low energy consumption of efficient signal processing function and Cortex-M4 processor family, low cost and wieldy advantage, makes it can provide flexible solution for multiaxis Motor Control.These features make STM32F407 be particularly suitable for the signal transacting of multiaxis firefighting robot servo-drive system.
In order to the burning things which may cause a fire disaster in room accurately can be sought, the present invention adopts six groups of sensor detection room mode, the firefighting robot two-dimensional structure invented is as shown in Figure 3: sensor S1, S6 acting in conjunction judges front barricade, sensor S2 and S3 coacts and judges the existence of its left side barricade, sensor S4 and S5 coacts and judges the existence of barricade on the right of it, and S2, S3, S4, S5 cooperate to provide navigation foundation for firefighting robot rectilinear motion simultaneously.Due at in-situ match, sunshine likely direct projection is come in, and such infrared sensor just can not re-use, and the present invention adopts ultrasonic sensor to instead of infrared sensor.In this vibrational power flow, S2 and S3 can diverse location accurately measure on the left of room from have barricade to without barricade or without barricade to the change having barricade, S4 and S5 can diverse location accurately measure on the right side of room from have barricade to without barricade or without barricade to the change having barricade, the sensor signal Spline smoothing of this position can be captured by controller, then fine compensation can be carried out to firefighting robot in this position, this for firefighting robot solve room find burning things which may cause a fire disaster and turn back to starting point calculate most important, if there is no this intelligent compensation, the cumulative errors of firefighting robot likely in complicated room are enough to make to solve this room map, cause getting back to room starting point.
In order to improve four-wheel firefighting robot in the stability finding walking navigation in burning things which may cause a fire disaster process, the present invention adds three axis accelerometer sensors A 1 in firefighting robot servo hardware system.During firefighting robot walking room, whole process opens the acceleration that acceierometer sensor A1, acceierometer sensor A1 are used for measuring firefighting robot three working direction.Controller obtains its angular velocity of rotation and angle according to the acceleration signal of the accelerometer recorded according to anomalous integral quadratic integral.When the attitude of firefighting robot change exceed setting threshold values time, at a new sampling period controller just immediately to its position compensation, avoid firefighting robot to depart from center far away and occur hitting the generation of wall phenomenon, improve the stability of its quick walking navigation.
In order to improve the stability of four-wheel firefighting robot MPU Controlled All Digital Servo System, prevent firefighting robot from skidding when low speed is walked and cause firefighting robot room information mistake, the present invention adds DC micromotor M in firefighting robot servo hardware system, in firefighting robot motion process, motor M does not stop to aspirate the air in micro vacuum sucker by vacuum suction apparatus, make the external and internal pressure of micro vacuum sucker different, produce certain negative pressure, it is made to produce certain adsorptive power to room floors, even if the destruction that room floor receives one group of player creates certain change, firefighting robot also can not be affected, effectively prevent the ground of firefighting robot when low speed is walked to skid.
In order to burning things which may cause a fire disaster letter can be gathered accurately, there is provided correct burning things which may cause a fire disaster information number for firefighting robot and extinguish burning things which may cause a fire disaster, the present invention gathers on basis at common photoelectricity, add image capturing system, if common photoelectric sensor has collected burning things which may cause a fire disaster signal, image capturing system opened by controller, and then to control two DC brushless motor direction of motion contrary for controller, original place rotates an angle, makes image capturing system can gather burning things which may cause a fire disaster information accurately; After burning things which may cause a fire disaster information is determined, controller controls an other lifting direct current generator E according to image taking results and works, and according to the highly automated rising of burning things which may cause a fire disaster or the height reducing dry-ice fire extinguisher, makes dry ice spraying altitude just aim at fire's point of origin.
The present invention overcomes single-chip microcomputer can not meet the stability of two-wheeled firefighting robot walking and the requirement of rapidity, and improve its serviceability, give up the single-chip microcomputer mode of operation that domestic self-extinguishing machine people adopts, under the prerequisite absorbing external Dynamic matrix control thought, independently invent the brand-new four-wheel control model based on STM32F407.Control panel take STM32F407 as process core, and the digital signal of the six axle brush DCs and DC servo Hybrid mode that realize four axle DC brushless motors and two single shaft direct current generators processes in real time, and responds various interruption, realizes the real-time storage of data-signal.
For reaching above-mentioned purpose, the present invention takes following technical scheme, in order to improve arithmetic speed, ensure stability and the reliability of four-wheel firefighting robot system, the present invention introduces vacuum suction technology in based on the controller of STM32F407, introduces acceierometer sensor simultaneously and carries out secondary attitude correction.This controller takes into full account the effect of battery in this system, STM32F407 process is given six maximum for workload in control system axle servo-drive systems, give full play to the comparatively faster feature of STM32F407 data processing speed, thus realize the functions such as firefighting robot man-machine interface, room reading, room storage, coordinate setting, I/O control, figure collection, burning things which may cause a fire disaster discovery and fire extinguishing fast.
With reference to Fig. 5, concrete implementation step is:
For the STM32F407 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 firefighting robot DC brushless motor X under assigned direction these environmental parameters, DC brushless motor Y, DC brushless motor Z, the distance that DC brushless motor R will run, speed and acceleration parameter, then controller generates control DC brushless motor X in conjunction with the feedback of current sensor C1 ~ C4 and motor photoelectric encoder, DC brushless motor Y, DC brushless motor Z, the pwm control signal of DC brushless motor R, DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R travels forward under control signal drives, accelerometer A1 and photoelectric encoder in real time the signal feedback recorded to STM32F407, by the attitude of microprocessor secondary correction maze robot.Firefighting robot is in motion process, and controller regulates vacuum plant to the adsorptive power 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 image acquisition 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 flame snuffer automatically simultaneously, then automatically dry-ice fire extinguisher solenoid valve is opened, by spraying dry ice fire extinguishing, after fire extinguishing, controller recalls the room information that firefighting robot has stored immediately, return shortest path is found out by Flood Fill algorithm, open aero mode and the servocontrol adjusting motor M strengthens ground friction coefficient, firefighting robot gets back to starting point along optimal path rapidly, waits for that bar seeks burning things which may cause a fire disaster order.
With reference to Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, its concrete functional realiey is as follows:
1) opening power moment, STM32F407 can detect cell voltage, if low pressure, STM32F407 will block the PWM wave control signal of DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, motor can not start, voltage sensor V1 is by work simultaneously, and sends alerting signal.If system voltage is normal, first controller opens vacuum draw motor M, 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.
2) 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.
3) firefighting robot is placed on starting point coordinate (0, 0), generally, firefighting robot is placed according to the direction (computer programming code is 0) in north in Fig. 6, receive the 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 STM32F407 blocks the output of rear-guard two-way PWM wave control signal, the two-way PWM ripple driven in simultaneously enable exports, control DC brushless motor X to rotate forward, DC brushless motor Y reverses, firefighting robot 90-degree rotation to the right under the control of acceleration transducer A1, firefighting robot is first along the X-axis forward (direction in east, computer programming code is 2) search burning things which may cause a fire disaster.
4) in firefighting robot motion process, the photoelectric encoder be contained on DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R can export its position signalling A and position signalling B, position signalling A pulse and the B pulsed logic state of photoelectric encoder often change once, and the location register of STM32F407 can add 1 or subtract 1 according to the traffic direction of DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R;
5) in firefighting robot motion process, when being contained in the position signalling A pulse of the photoelectric encoder on DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R and B pulse and Z pulse simultaneously for low level, just produce an INDEX signal to STM32F407 register, the absolute position of record motor, is then converted into firefighting robot particular location in a room.
6) in order to firefighting robot coordinate computing function accurately can be realized, sensor S2 about firefighting robot, S3 and S4, S5 can detect the room barricade about direction of motion and pillar in the moment, if S2, S3 or S4, S5 finds that sensor signal there occurs transition, then illustrate that firefighting robot enters from having room barricade to the change without room barricade (or from without room barricade to there being room barricade) state, STM32F407 can according to firefighting robot current operating conditions fine compensation, the error that thorough elimination firefighting robot has added up when seeking burning things which may cause a fire disaster in complicated room.
7) travel forward along any one direction at firefighting robot, if determine do not have barricade to enter the range of movement in front in any one side's center of a lattice, then firefighting robot will store its coordinate (X, Y), and give STM32F407 the location parameter of the lattice that travel forward, by STM32F407 according to the feedback of searching controller speed and acceleration requirement and photoelectric encoder, formation speed-time motion ladder diagram, this trapezoidal area comprised is exactly the lattice distance that firefighting robot DC brushless motor X and DC brushless motor Y will run.STM32F407 generates the PWM ripple driving diaxon DC brushless motor according to this ladder diagram, then the enable driving chip of STM32F407 moves before driving two independent direct current brushless electric machine X and motor Y-direction.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 working direction left and right barricade, and then combine the left and right barricade navigation threshold values of setting, accelerometer A1 records the real-time acceleration signal of firefighting robot and gives controller, controller obtains instantaneous angular velocity and angle respectively by anomalous integral quadratic integral, the instantaneous acceleration of record firefighting robot, speed and positional information, when firefighting robot rapid discovery has departed from setting center, microprocessor starts to carry out real-Time Compensation by accelerometer sensor A1 according to the deviation leaving center, the PWM ripple input of fine setting DC brushless motor, can the attitude of accurate adjustment firefighting robot by this mode, it is made to come back to setting center, if firefighting robot is searched in burning things which may cause a fire disaster process occur stall or the more situation of room floors dust, STM32F407 can regulate M to strengthen firefighting robot and the friction on ground and the two-wheeled PWM wave control signal of enable rear-guard, DC brushless motor Z and DC brushless motor R opened by controller, system enters four-wheel drive state, STM32F407 is according to time and rate request, remaining distance D is converted into the PWM ripple of four axle DC brushless motors, make DC brushless motor X, DC brushless motor Y, DC brushless motor Z advances with identical speed with DC brushless motor R, firefighting robot still advances according to original navigation mode under 4 wheel driven state, the transient motion acceleration of accelerometer A1 real time record firefighting robot, its speed and position signalling is obtained by anomalous integral quadratic integral, when the exploration of firefighting robot four-wheel has departed from setting center, microprocessor starts to carry out real-Time Compensation by accelerometer A1 according to the deviation leaving center, finely tune the PWM ripple input of four axle DC brushless motors, can the attitude of accurate adjustment firefighting robot by this mode, it is made to come back to setting center, when firefighting robot moves a lattice distance new address of arrival under the control of accelerometer A1, microprocessor will upgrade its coordinate information.
If the direction when coordinate (X, Y) is north, then upgrade its coordinate for (X, Y+1), new coordinate direction is still north; If the direction when coordinate (X, Y) is east, then upgrade its coordinate for (X+1, Y), new coordinate direction is still east; If the direction when coordinate (X, Y) is south, then upgrade its coordinate for (X, Y-1), new coordinate direction is still south; If the direction when coordinate (X, Y) is west, then upgrade its coordinate for (X-1, Y), new coordinate direction is still west;
8) 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, formation speed-time motion ladder diagram is required according to exploration controller speed and acceleration by STM32F407, this trapezoidal area comprised is exactly the distance Y1 that firefighting robot four DC brushless motors will stop.STM32F407 feeds back in conjunction with photoelectric encoder and current sensor C1 ~ C4 the PWM wave control signal generating driving four axle DC brushless motor again according to this ladder diagram, then the enable driving chip of STM32F407 drives four independent direct current brushless electric machine X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R to travel forward, and controller realizes the synchronous deceleration regime of four-wheel.In docking process forward, sensor S2, S3, S4, S5 judges the barricade of left and right in real time, and feed back current room barricade information, firefighting robot enters two wall navigation mode, and then combine the left and right barricade navigation threshold values of setting, accelerometer A1 records the real-time acceleration signal of firefighting robot and gives controller, controller obtains instantaneous angular velocity and angle respectively by anomalous integral quadratic integral, the instantaneous acceleration of record firefighting robot, speed and positional information, when firefighting robot rapid discovery has departed from setting center, microprocessor starts to carry out real-Time Compensation by accelerometer sensor A1 according to the deviation leaving center, finely tune the PWM ripple input of four axle DC brushless motors, can the attitude of accurate adjustment firefighting robot by this mode, it is made to come back to setting center.Firefighting robot realizes arranging stop parking.STM32F407 forbids that the DC brushless motor PWM ripple of rear-guard two-way exports, the two-way DC brushless motor PWM ripple driven in simultaneously enable exports, the PWM ripple of adjustment firefighting robot DC brushless motor X, DC brushless motor Y exports, make two non-brush permanent-magnet DC motor direction of motion contrary, firefighting robot original place realizes 180 degree, accurate original place and turns under the control of accelerometer sensor A1, 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;
9) 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 formation speed-time motion ladder diagram distance R90_Leading very short for walking straight line according to the different search speed of controller and acceleration, and this trapezoidal area comprised is exactly the distance that firefighting robot two DC brushless motor X and DC brushless motor Y will move.STM32F407 generates in conjunction with photoelectric encoder and current of electric feedback the PWM ripple driving diaxon DC brushless motor again according to this ladder diagram, then the enable driving chip of STM32F407 moves before driving two independent direct current brushless electric machine X and DC brushless motor Y-direction, in forward movement, sensor S2, S3, S4, S5 judges the barricade of left and right in real time, and feed back current room barricade information, firefighting robot enters Dan Zuoqiang navigation mode, and then combine the left barricade navigation threshold values of setting, accelerometer A1 records the real-time acceleration signal of firefighting robot and gives controller, controller obtains instantaneous angular velocity and angle respectively by anomalous integral quadratic integral, the instantaneous acceleration of record firefighting robot, speed and positional information, when firefighting robot rapid discovery has departed from setting center, microprocessor starts to carry out real-Time Compensation by accelerometer sensor A1 according to the deviation leaving center, the PWM ripple input of fine setting motor, can the attitude of accurate adjustment firefighting robot by this mode, it is made to come back to setting center, if there is stall or the more situation of room floors dust in the correction position stage in firefighting robot, STM32F407 can regulate M to strengthen firefighting robot and the friction on ground and the two-wheeled PWM wave control signal of enable rear-guard, DC brushless motor Z and DC brushless motor R opened by controller, system enters four-wheel drive state, STM32F407 is according to time and rate request, remaining distance D is converted into the PWM ripple of four axle DC brushless motors, make DC brushless motor X, DC brushless motor Y, DC brushless motor Z advances with identical speed with DC brushless motor R, firefighting robot still advances according to original left barricade navigation mode under 4 wheel driven state, the transient motion acceleration of accelerometer A1 real time record firefighting robot, its speed and position signalling is obtained by anomalous integral quadratic integral, when the exploration of firefighting robot four-wheel has departed from setting center, microprocessor starts to carry out real-Time Compensation by accelerometer A1 according to the deviation leaving center, finely tune the PWM ripple input of four axle DC brushless motors, can the attitude of accurate adjustment firefighting robot by this mode, it is made to come back to setting center,
When arriving set objective, sensor reference value R90_FrontWallRef starts working, 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 formation speed-time motion ladder diagram radian ARC according to the different search speed of controller and acceleration, and this trapezoidal area comprised is exactly the distance that firefighting robot two DC brushless motors will move.Then STM32F407 generates in conjunction with the feedback of photoelectric encoder and current sensor C1, C2 the PWM ripple driving DC brushless motor to move again, and PWM ripple 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 accelerometer A1 to carry out position correction.Its instantaneous acceleration of accelerometer A1 real time record in firefighting robot fast searching turning process, then controller obtains its speed and positional information by anomalous integral quadratic integral, and by the speed and angle contrast with desired location, when firefighting robot fast searching has departed from desired location, within the new sampling period, system is according to the PWM ripple input of deviation size fine setting DC brushless motor, diaxon servo-drive system starts to carry out real-Time Compensation to adjust the attitude of firefighting robot, makes it complete radian ARC;
When after arrival set objective, system relies on sensor S2, S3 to start navigation, controller requires formation speed-time motion ladder diagram distance R90_Passing very short for straight line moving according to different controller search speed and acceleration, and this trapezoidal area comprised is exactly the distance that mid-two the DC brushless motor X and motor Y of firefighting robot will move.STM32F407 generates in conjunction with photoelectric encoder and DC brushless motor current feedback the PWM ripple driving diaxon DC brushless motor again according to this ladder diagram, then the enable driving chip of STM32F407 moves before driving two independent direct current brushless electric machine X and DC brushless motor Y-direction, in accelerator forward, sensor S2, S3 judges left barricade in real time, and feed back current room barricade information, firefighting robot enters Dan Zuoqiang navigation mode, and then combine the left barricade navigation threshold values of setting, accelerometer A1 records the real-time acceleration signal of firefighting robot and gives controller, controller obtains instantaneous angular velocity and angle respectively by anomalous integral quadratic integral, the instantaneous acceleration of record firefighting robot, speed and positional information, when firefighting robot rapid discovery has departed from setting center, microprocessor starts to carry out real-Time Compensation by accelerometer sensor A1 according to the deviation leaving center, the PWM ripple input of fine setting DC brushless motor, can the attitude of accurate adjustment firefighting robot by this mode, it is made to come back to setting center.If there is stall or the more situation of room floors dust producing the correction position stage in firefighting robot, STM32F407 can regulate M to strengthen firefighting robot and the friction on ground and the two-wheeled PWM wave control signal of enable rear-guard, DC brushless motor Z and DC brushless motor R opened by controller, system enters four-wheel drive state, STM32F407 is according to time and rate request, remaining distance D is converted into the PWM ripple of four axle DC brushless motors, make DC brushless motor X, DC brushless motor Y, DC brushless motor Z advances with identical speed with DC brushless motor R, firefighting robot still advances according to original left barricade navigation mode under 4 wheel driven state, the transient motion acceleration of accelerometer A1 real time record firefighting robot, its speed and position signalling is obtained by anomalous integral quadratic integral, when the exploration of firefighting robot four-wheel has departed from setting center, microprocessor starts to carry out real-Time Compensation by accelerometer A1 according to the deviation leaving center, finely tune the PWM ripple input of four axle DC brushless motors, can the attitude of accurate adjustment firefighting robot by this mode, it is made to come back to setting center, after arriving set objective, complete the geometric locus motion of whole right-hand bend, then control it and start to upgrade its coordinate and direction.
If the direction when coordinate (X, Y) is north, then upgrade its coordinate for (X+1, Y), new coordinate direction is east; If the direction when coordinate (X, Y) is east, then upgrade its coordinate for (X, Y-1), new coordinate direction is south; If the direction when coordinate (X, Y) is south, then upgrade its coordinate for (X-1, Y), new coordinate direction is west; If the direction when coordinate (X, Y) is west, then upgrade its coordinate for (X, Y+1), new coordinate direction is north;
10) if having barricade to enter the range of movement in front at firefighting robot in the forward movement of current direction, and now 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, and 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 according to arranging of Fig. 6.
If the direction when coordinate (X, Y) is north, then upgrade its coordinate for (X-1, Y), new coordinate direction is west; If the direction when coordinate (X, Y) is east, then upgrade its coordinate for (X, Y+1), new coordinate direction is north; If the direction when coordinate (X, Y) is south, then upgrade its coordinate for (X+1, Y), new coordinate direction is east; If the direction when coordinate (X, Y) is west, then upgrade its coordinate for (X, Y-1), new coordinate direction is south;
11) after firefighting robot arrives new room lattice, photoelectric sensor S7 starts working, light source under new coordinate is judged, if photoelectric sensor captures signal will notify that STM32F407 finds target, the image capturing system that STM32F407 can open based on CCD carries out light source analysis, after determining that burning things which may cause a fire disaster is errorless, image capturing system is task again: first controller is according to the angle between image capturing system determination dry-ice fire extinguisher nozzle spray direction and candle, first STM32F407 forbids that the two-way PWM of rear-guard works, according to the anglec of rotation, angular acceleration requirement, this angle is converted into angle, angular velocity, angular acceleration command value, and then in conjunction with current of electric C1, the feedback of C2 and photoelectric encoder, the PWM wave control signal of automatic adjustment DC brushless motor X and motor Y, motor X is rotated forward, motor Y reverses, under accelerometer A1 controls, firefighting robot starts the angle between original place rotation adjustment nozzle and candle, when after arrival set angle, controller makes the self-locking of firefighting robot original place,
STM32F407 is again according to the difference in height between image capturing system determination 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, and then in conjunction with the electricity of motor E and the feedback of photoelectric encoder, the PWM wave control signal of automatic adjustment direct current generator E, then direct current generator E work is driven, make the nozzle height of flame snuffer consistent with candle burning things which may cause a fire disaster height, the solenoid valve of the dry-ice fire extinguisher carried opened by controller, start to carry out sprinkling dry ice to candle until light source disappears, image capturing system secondary judges burning things which may cause a fire disaster, after determining that fire extinguishing completes, controller cuts out image capturing system, STM32F407 adjusts the PWM wave control signal of DC brushless motor X and motor Y automatically, and motor X is reversed, and motor Y rotates forward, and under accelerometer A1 controls, firefighting robot starts original place rotation, and returns to the position just entering palace,
If photoelectric sensor S7 does not capture the light source under new coordinate, firefighting robot will leave current room lattice, continuation be searched and upgrade its coordinate;
12) when firefighting robot searches out light source, and spray after dry ice completes fire extinguishing, firefighting robot can be parked in impact point, then controller recalls the path that firefighting robot has been searched for, and give up the target of not searching, found out the optimal path searching room by Flood Fill algorithm, then firefighting robot gets back to search starting point fast according to this path;
13) in firefighting robot room search process, controller can to lower-speed DC brushless electric machine X, DC brushless motor Y, the torque of DC brushless motor Z and DC brushless motor R, direct current generator M, direct current generator E carries out on-line identification, due to system employing is three Close loop servo control, if there is pulsation in torque, STM32F407 can utilize the relation of direct current generator moment and electric current to carry out linear compensation to interference, effectively reduce motor torque shake to the impact of navigating during firefighting robot rapid discovery, add its antijamming capability.
14) starting point (0 is got back to when firefighting robot completes whole return trip, 0), STM32F407 will control firefighting robot central point and stop, and readjust the level of driving power bridge, make DC brushless motor X and DC brushless motor Y with the motion of contrary direction, under the control of firefighting robot acceierometer sensor A1, turnback is revolved in original place, original place self-locking, waits for next seek command.
The beneficial effect of the present invention's full-automatic four-wheel low speed firefighting robot servo controller is:
1, in motion process; take into full account battery effect in this system; all the running status of firefighting robot is being monitored and computing based on the STM32F407 controller moment; and in the process of cell powers; the electric current of current sensor C1 ~ C6 moment to battery is observed and gives controller protection; avoid the generation of big current; so fundamentally solve the impact of big current to lithium ion battery, avoid the generation of the lithium ion battery overaging phenomenon caused due to heavy-current discharge.
2, instead of stepper motor with DC brushless motor, motor mechanical is rubbed, without wearing and tearing, without electric spark, and non-maintaining, and the efficiency of DC brushless motor is high, power and torque density high, make the efficiency of system higher.
3, by the servocontrol of four DC brushless motor X, the DC brushless motor Y of STM32F407 process firefighting robot, DC brushless motor Z, DC brushless motor R, single shaft absorption and control direct current generator M and flame snuffer lifting motor E, make control fairly simple, substantially increase arithmetic speed, solve scm software and run slower bottleneck, shorten the construction cycle short, and program transportability ability is strong.
4, the present invention realizes full SMD components material substantially, achieves veneer and controls, 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 speed adjustable range wider, contrast of regulating speed is steady.
6, the data adopting STM32F407 process six axle servo a large amount of due to this controller and algorithm, effectively prevent " race flies " of program, antijamming capability strengthens greatly.
7, in firefighting robot actual motion process, STM32F407 can adjust the pid parameter of inner three Close loop servo control in good time according to the peripheral ruuning situation of robot, realize segmentation P, PD, PID to control and nonlinear PID controller, make system meet the switching of middle slow running hourly velocity.
8, three axis accelerometer A1 is introduced at this firefighting robot system, the angular velocity and angle information that obtain firefighting robot can be similar to by anomalous integral quadratic integral, achieve the indirect detection of instantaneous acceleration, speed and angle when firefighting robot is explored in room, and utilize feedback to realize omnidistance navigation and second compensation, be conducive to the stability and the dynamic property that improve firefighting robot.
9, in firefighting robot operational process, STM32F407 can carry out on-line identification to the torque of lower-speed DC brushless electric machine X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, single shaft absorption and control direct current generator M and flame snuffer lifting motor E and utilize the relation of motor torque and electric current to compensate, and decreases burning things which may cause a fire disaster is sought in motor torque shake fast impact on firefighting robot.
10, by regulating direct current generator M can effectively regulate vacuum cup to the absorption affinity on ground, the generation of firefighting robot skidding when low speed seeks burning things which may cause a fire disaster is eliminated.
11, effectively can catch burning things which may cause a fire disaster adding of image acquisition, reduce external interference to the maloperation of robot.
12, 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 flame snuffer that robot is carried and burning things which may cause a fire disaster are in a straight line, and effectively can extinguish burning things which may cause a fire disaster.
13, the height of flame snuffer can be adjusted by the servocontrol of adjustment motor E, make fire extinguisher nozzle consistent with fire's point of origin height, be conducive to effectively putting out burning things which may cause a fire disaster.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize description of the present invention to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. a full-automatic four-wheel low speed firefighting robot servo controller, is characterized in that, comprising: electric supply installation, STM32F407 sensing chip assembly, image collection assembly, 3-axis acceleration flowmeter sensor and electric machine assembly,
Described electric supply installation is electrically connected described STM32F407 chip, described sensory package, described image collection assembly, the equal communication of described 3-axis acceleration flowmeter sensor connects described STM32F407 chip, described STM32F407 chip draws velocity information by the integrated acceleration of the firefighting robot of described three axis accelerometer sensor feedback and quadratic integral, positional information is to carry out position compensation, the output terminal communication of described STM32F407 chip connects and electric machine assembly described in drived control, described electric machine assembly comprises micromachine and lifting motor, described micromachine is connected with vacuum suction apparatus and micro vacuum sucker, described micromachine aspirates the air in described micro vacuum sucker by described vacuum suction apparatus, make described micro vacuum sucker produce external and internal pressure difference and form negative pressure, to increase adsorptive power, prevent from skidding, described lifting motor is connected with extinguishing device,
Described sensory package comprises photoelectric sensor, and described image capture module communication connects the output terminal of described photoelectric sensor, triggers and open described image capture module after described photoelectric sensor senses burning things which may cause a fire disaster signal.
2. full-automatic four-wheel double-core low speed firefighting robot servo controller according to claim 1, it is characterized in that, described electric supply installation is lithium battery.
3. full-automatic four-wheel double-core low speed firefighting robot servo controller according to claim 1, it is characterized in that, described sensory package also comprises first sensor, the second sensor, the 3rd sensor, four-sensor, the 5th sensor and the 6th sensor, and described first sensor, the second sensor, the 3rd sensor, four-sensor, the 5th sensor, the 6th sensor are ultrasonic sensor.
4. full-automatic four-wheel double-core low speed firefighting robot servo controller according to claim 3, it is characterized in that, described first sensor and described 6th sensor are with the use of responding to the obstacle judging front, described second sensor and described 3rd sensor are with the use of responding to the obstacle judging left, described four-sensor and described 5th sensor are with the use of responding to the obstacle judging right, described second sensor and described 3rd sensor diverse location accurately measure on the left of room from have barricade to without barricade or without barricade to the change having barricade, described four-sensor and described 5th sensor diverse location accurately measure on the right side of room from have barricade to without barricade or without barricade to the change having barricade, and described signal is sent to described STM32F407 chip and carries out fine compensation.
5. full-automatic four-wheel double-core low speed firefighting robot servo controller according to claim 1, it is characterized in that, described electric machine assembly also comprises front revolver motor, front right wheel motor, rear revolver motor and rear right wheel motor, the motion of described front revolver motor, front right wheel motor, rear revolver motor and rear right wheel the motor respectively front revolver of firefighting robot described in connection control, front right wheel, rear revolver and rear right wheel.
6. full-automatic four-wheel double-core low speed firefighting robot servo controller according to claim 5, it is characterized in that, described front revolver motor, front right wheel motor, rear revolver motor, rear right wheel motor, micromachine and lifting motor are DC brushless motor.
7. full-automatic four-wheel double-core low speed firefighting robot servo controller according to claim 5, it is characterized in that, also comprise photoelectric encoder, described photoelectric encoder is separately positioned on described front revolver motor, front right wheel motor, rear revolver motor, rear right wheel motor, micromachine and lifting motor.
8. full-automatic four-wheel double-core low speed firefighting robot servo controller according to claim 1, is characterized in that, be provided with signal amplifying apparatus between described electric machine assembly and described STM32F407 chip.
9. full-automatic four-wheel double-core low speed firefighting robot servo controller according to claim 1, it is characterized in that, described in described STM32F407 chip drives, the signal of electric machine assembly is PWM wave control signal.
10. full-automatic four-wheel double-core low speed firefighting robot servo controller according to claim 1, it is characterized in that, the inside of described STM32F407 chip is also provided with master system and kinetic control system, described master system comprises room and explores module, room storage module, path read module, human-computer interface module and online output module, described kinetic control system comprises the synchronous brush DC of six axles and direct current mixing servo control module, coordinate setting module, I/O control module and image capture module, wherein, the synchronous brush DC of described six axle and direct current mixing servo control module comprise searches servo control module based on four axle DC brushless motor firefighting robots, single axle vacuum sucker suction servo control module and flame snuffer single shaft lift servo control module.
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Application publication date: 20151028 |
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| RJ01 | Rejection of invention patent application after publication |