CN105116918A - Double-core two-wheel middling speed fire extinguishing robot servo controller - Google Patents
Double-core two-wheel middling speed fire extinguishing robot servo controller Download PDFInfo
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- CN105116918A CN105116918A CN201510519881.2A CN201510519881A CN105116918A CN 105116918 A CN105116918 A CN 105116918A CN 201510519881 A CN201510519881 A CN 201510519881A CN 105116918 A CN105116918 A CN 105116918A
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Abstract
The invention discloses a double-core two-wheel middling speed fire extinguishing robot servo controller, which emits a third control signal, a second control signal, and a first control signal to respectively drive a direct current motor M, a direct current brushless motor Y and a direct current brushless motor X; the direct current motor M, the direct current brushless motor X and the direct current brushless motor Y are processed by a signal processor and then drive a fire extinguishing robot. The controller is based on a brand new double-core controller, fully considers the cell effect in a system, and effectively solves the problem of sliding when the fire extinguishing robot walks with a high speed based on the vacuum chuck antiskid technology of the direct current motor M; through initial set, the controller can fully consider advantages of MC58113 as a mixed servo adjuster to process the servo control of the direct current brushless motors and the direct current motor, and take advantages of a fast data processing speed of STM32F407, thereby realizing the functions of human computer interface, room reading, room storage, coordinate positioning, etc.
Description
Technical field
The present invention relates to multi-axis robot field, be specifically related to a kind of two-wheeled firefighting robot automatic control system of double-core two-wheeled middling speed firefighting robot servo controller.
Background technology
Firefighting robot is that in one, in simulating reality life, the mankind find harmful burning things which may cause a fire disaster and can a kind of Intelligent Robot of automatic distinguishing burning things which may cause a fire disaster.Generally, match type firefighting robot can move in a planar structure house model, finds a candle representing burning things which may cause a fire disaster and it extinguished under working rule instructs with the shortest time.The process of robot process fire alarm in simulating reality family.Candle represents the burning things which may cause a fire disaster that family is lighted, and robot must find and extinguish burning things which may cause a fire disaster.The bottom of candle flame is by overhead 15 ~ 20cm is high.Candle is the Chinese wax candle of diameter 1-2cm.The exact height of candle flame and size are uncertain, changes, and are determined by the environment of candle condition and surrounding.Candle will be placed in a room of competition area randomly, regardless of flame specifically what size after match starts, all requires that robot can find candle.
In real match, in order to strengthen competition difficulty, competition area are divided into the mode standard of n*n lattice, and what the most often adopt is the uniform pattern of 8*8 lattice, and its competition area two-dimensional structure as shown in Figure 1, will find burning things which may cause a fire disaster and extinguish in 64 lattice rooms by firefighting robot.Search in burning things which may cause a fire disaster map in the two dimension of Fig. 1, the material of wall is wooden general and can be reflective, and the length of every block barricade is that 60cm is long, and height is at 27-34cm.Ground, competition area is smooth, and the floor in place is black.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 room 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 topworks of firefighting robot is stepper motor; often can run into pulse-losing causes motor desynchronizing phenomenon to occur; cause occurring mistake to the memory of position, firefighting robot cannot seek burning things which may cause a fire disaster, or after fire extinguishing, starting point cannot be got back to by robot.
(2) owing to adopting stepper motor, make organism fever relatively more serious, need sometimes to carry out installing heat abstractor additional, robot overall weight is increased.
(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.
(7) 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.
(8) 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.
(9) 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.
(10) 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.
Therefore, need to redesign based on monolithic processor controlled firefighting robot controller existing, seek a kind of economic and practical can low speed two-wheeled firefighting robot servo-drive system in the use in reality.
Summary of the invention
The object of the present invention is to provide a kind of precise flange special chip MC58113 introducing PMD company in based on the controller of STM32F407 and produce, form the brand-new dual-core controller based on STM32F407+ special sport control chip, simultaneously dual-core controller introduces vacuum suction technology, and adds 3-axis acceleration flowmeter sensor and three-axis gyroscope carries out secondary attitude correction; This controller takes into full account the effect of battery in this system, MC58113 process is given three 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 three axle servocontrol of complexity, realizes the double-core two-wheeled middling speed firefighting robot servo controller of the simple functions such as man-machine interface, room reading, room storage, coordinate setting.
Technical scheme of the present invention is, a kind of double-core two-wheeled middling speed firefighting robot servo controller, comprise battery, dual-core controller, direct current generator M, DC brushless motor X, DC brushless motor Y, signal processor and firefighting robot, described dual-core controller sends the 3rd control signal and drives described direct current generator M, described dual-core controller sends the second control signal and drives described DC brushless motor Y, described dual-core controller sends the first control signal and drives described DC brushless motor X, described direct current generator M, DC brushless motor X, DC brushless motor Y is by firefighting robot described in signal processor processes rear drive, described dual-core controller is STM32F407 and MC58113, described MC58113 enters real-time communication by I/O mouth and STM32F407.
In a preferred embodiment of the present invention, described two-wheeled middling speed firefighting robot servo controller is also provided with the first ultrasonic sensor, the second ultrasonic sensor, the 3rd ultrasonic sensor, the 4th ultrasonic sensor, the 5th ultrasonic sensor, the 6th ultrasonic echography wave sensor, photoelectric sensor, voltage sensor, 3-axis acceleration flowmeter sensor, three-axis gyroscope, the first current sensor and the second current sensor.
In a preferred embodiment of the present invention, described dual-core controller comprises host computer procedure and motion control program, described host computer procedure comprises room and explores module, room storage module, path read module, human-computer interface module and online output module, described motion control program comprises based on the synchronous brush DC of MC58113 tri-axle and direct current mixing servo control module, coordinate setting module and I/O control module, described comprising based on the synchronous brush DC of MC58113 tri-axle and direct current mixing servo control module searches servo control module and single axle vacuum sucker suction servo control module based on diaxon DC brushless motor firefighting robot.
In a preferred embodiment of the present invention, described dual-core controller is also connected with dry-ice fire extinguisher solenoid valve.
In a preferred embodiment of the present invention, described battery is lithium ion battery.
In a preferred embodiment of the present invention, described DC brushless motor X, DC brushless motor Y are also respectively arranged with photoelectric encoder.
In a preferred embodiment of the present invention, the vacuum cup in described single axle vacuum sucker suction servo control module is driven by direct current generator M.
In a preferred embodiment of the present invention, described vacuum cup is corresponding with described ground absorption to be arranged thus prevents from skidding.
Of the present invention is a kind of double-core two-wheeled middling speed firefighting robot servo controller, has following beneficial effect:
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 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 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 two DC brushless motor X of MC58113 process firefighting robot and DC brushless motor Y, single shaft absorption and control direct current generator M, 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 system band loading capability stronger, speed adjustable range is wider, and contrast of regulating speed is steady;
6, the data adopting MC58113 process three 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 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 middle slow running hourly velocity;
8, three axis accelerometer sensors A 1 and three-axis gyroscope G1 is introduced at this firefighting robot system, the angle information of firefighting robot can be obtained by angular velocity 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;
9, in firefighting robot operational process, STM32F407 can carry out on-line identification to the torque of DC brushless motor X, DC brushless motor Y and direct current generator M 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 seeking at a high speed burning things which may cause a fire disaster is eliminated;
11, 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 driving 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.
Accompanying drawing explanation
Fig. 1 is firefighting robot room schematic diagram;
Fig. 2 is based on monolithic processor controlled two-wheeled firefighting robot schematic diagram;
Fig. 3 is based on STM32F407 two-wheeled firefighting robot two-dimensional structure figure;
Fig. 4 is based on STM32F407+MC58113 two-wheeled firefighting robot schematic diagram;
Fig. 5 is based on STM32F407+MC58113 two-wheeled firefighting robot servo programe block diagram;
Fig. 6 is firefighting robot traffic direction schematic diagram;
Fig. 7 is right-hand rotation schematic diagram;
Fig. 8 is left-hand rotation schematic diagram.
Embodiment
Below preferred embodiment of the present invention is described in detail, can be easier to make advantages and features of the invention be readily appreciated by one skilled in the art, thus more explicit defining is made to protection scope of the present invention.
STM32F4 series is except pin and the high performance F2 series of softwarecompatible, the dominant frequency (168MHz) of F4 is higher than F2 series (120MHz), and support the peripheral hardware that monocycle DSP instruction and floating point unit, larger SRAM capacity (192KB, F2 are 128KB), the embedded flash memory of 512KB-1MB and image, network interface and data encryption etc. are more advanced.STM32F4 series, based on up-to-date ARMCortexM4 kernel, has increased signal processing function newly, and has improve travelling speed in existing outstanding STM32 microcontroller products combination; STM32F405x is integrated with timer, 3 ADC, 2 DAC, serial line interface, external memory interface, real-time clock, CRC computing unit and simulates real randomizers at the advanced peripheral hardware of interior the whole series.STM32F407 adds multiple advanced peripheral hardware on STM32F405 product basis.These performances make F4 series can be easier to meet the Digital Signals demand of control and signal processing function mixing.The combination of the low energy consumption of efficient signal processing function and Cortex-M4 processor family, low cost and wieldy advantage, makes it can provide flexible solution for multiaxis Motor Control.These features make STM32F407 be particularly suitable for the signal transacting of multiaxis firefighting robot servo-drive system.
MC5X000 movement sequence control chip is the third generation servocontrol 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 servocontrol, 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 to be carried out initialization flexibly and arranges and controlled motion axle with powerful instruction set, 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 direct-current brushless 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.The needs of cumulated volume product, select MC58113 as servocontrol regulator, and carry out communication and data call by serial port and STM32F407.
The present invention includes battery, dual-core controller, direct current generator M, DC brushless motor X, DC brushless motor Y, signal processor and firefighting robot, described dual-core controller sends the 3rd control signal and drives described direct current generator M, described dual-core controller sends the second control signal and drives described DC brushless motor Y, described dual-core controller sends the first control signal and drives described DC brushless motor X, described direct current generator M, DC brushless motor X, DC brushless motor Y is by firefighting robot described in signal processor processes rear drive, described dual-core controller is STM32F407 and MC58113, described MC58113 enters real-time communication by I/O mouth and STM32F407.
Described two-wheeled middling speed firefighting robot servo controller is also provided with the first ultrasonic sensor S1, the second ultrasonic sensor S2, the 3rd ultrasonic sensor S3, the 4th ultrasonic sensor S4, the 5th ultrasonic sensor S5, the 6th ultrasonic echography wave sensor S6, photoelectric sensor S7, voltage sensor V1, three axis accelerometer sensors A 1, three-axis gyroscope G1, the first current sensor C1 and the second current sensor C2.
Described dual-core controller comprises host computer procedure and motion control program, described host computer procedure comprises room and explores module, room storage module, path read module, human-computer interface module and online output module, described motion control program comprises based on the synchronous brush DC of MC58113 tri-axle and direct current mixing servo control module, coordinate setting module and I/O control module, described comprising based on the synchronous brush DC of MC58113 tri-axle and direct current mixing servo control module searches servo control module and single axle vacuum sucker suction servo control module based on diaxon DC brushless motor firefighting robot.
Described dual-core controller is also connected with dry-ice fire extinguisher solenoid valve.
Described battery is lithium ion battery.
Described DC brushless motor X, DC brushless motor Y are also respectively arranged with photoelectric encoder.
Vacuum cup in described single axle vacuum sucker suction servo control module is driven by direct current generator M.
In order to accurately room 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: ultrasonic sensor S1, S6 acting in conjunction judges front barricade, ultrasonic sensor S2 and S3 coacts and judges the existence of its left side barricade, ultrasonic sensor S4 and S5 coacts and judges the existence of barricade on the right of it, and S2, S3, S4, S5 cooperate to provide navigation foundation for firefighting robot rectilinear motion simultaneously.Due at in-situ match, sunshine likely direct projection is come in, and such infrared sensor just can not in use, and the present invention adopts ultrasonic sensor to instead of infrared sensor.In this vibrational power flow, S2 and S3 can diverse location accurately measure on the left of room from have barricade to without barricade or without barricade to the change having barricade, S4 and S5 can diverse location accurately measure on the right side of room from have barricade to without barricade or without barricade to the change having barricade, the sensor signal Spline smoothing of this position can be captured by controller, then fine compensation can be carried out to firefighting robot in this position, this for firefighting robot solve room find burning things which may cause a fire disaster and turn back to starting point calculate most important, if there is no this intelligent compensation, the cumulative errors of firefighting robot likely in complicated room are enough to make to ask to solve map room, cause getting back to room starting point.
In order to improve two-wheeled firefighting robot in the stability finding walking navigation in burning things which may cause a fire disaster process, the present invention adds three axis accelerometer sensors A 1 and three-axis gyroscope G1 in firefighting robot servo hardware system.Omnidistance unlatching three axis accelerometer sensors A 1 and three-axis gyroscope G1 during firefighting robot walking room, three axis accelerometer sensors A 1 is used for measuring the acceleration of firefighting robot three working direction, and three-axis gyroscope G1 measures the angular velocity of firefighting robot three working direction.Controller obtains angle information according to the angular velocity signal recorded by integration.When the attitude of firefighting robot change exceed setting threshold values time, at a new sampling period controller just immediately to its position compensation, avoid firefighting robot to depart from center far away and occur hitting the generation of wall phenomenon, improve the stability of its quick walking navigation.
In order to improve the stability of firefighting robot MPU Controlled All Digital Servo System, prevent firefighting robot from skidding when walking at a high speed and cause firefighting robot room information mistake, the present invention adds DC micromotor M in firefighting robot servo hardware system, in firefighting robot motion process, direct current generator M does not stop to aspirate the air in micro vacuum sucker by vacuum suction apparatus, make the external and internal pressure of micro vacuum sucker different, produce certain negative pressure, it is made to produce certain adsorptive power to room floors, even if the destruction that room floor receives one group of player creates certain change, firefighting robot also can not be affected, effectively prevent the ground of firefighting robot when walking at a high speed to skid.
The present invention overcomes 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, independently invent the brand-new control model of two-wheeled double-core based on STM32F407+MC58113.Control panel take MC58113 as process core, and the servo-controlled digital signal of three axles being achieved diaxon DC brushless motor and single shaft direct current generator by its Initialize installation is processed in real time, and responds various interruption, realizes the real-time storage of data-signal.Dual-core controller frees STM32F407 in the middle of the work of complexity, realize the signal processing algorithm of part and the steering logic of MC58113, and response is interrupted, and realizes data communication and stores live signal.
The controller principle figure of this design is as Fig. 4, and its control block diagram is as Fig. 5.
With reference to Fig. 3, concrete implementation step is:
For the STM32F407+MC58113 dual-core 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 environmental 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 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, three axis accelerometer sensors A 1, three-axis 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, controller regulates vacuum plant to the adsorptive power on ground by direct current generator M according to firefighting robot movement velocity automatically, increase effectively friction, skid when preventing the quick room of firefighting robot from exploring burning things which may cause a fire disaster walking, and store room information in real time.Automatically dry-ice fire extinguisher solenoid valve is opened after controller finds burning things which may cause a fire disaster, by spraying dry ice fire extinguishing, after fire extinguishing, controller recalls the room information that firefighting robot has stored immediately, find out return shortest path by Flood Fill algorithm, and open aero mode and get back to rapidly starting point and wait for that bar seeks burning things which may cause a fire disaster order.
With reference to Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, its concrete functional realiey is as follows:
1) 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, transmit initial order by STM32F407 makes MC58113 control DC brushless motor and direct current generator to MC58113 simultaneously, and opens its three 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 alerting 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 regulate direct current generator M to strengthen vacuum cup to the absorption affinity on ground automatically.
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 ultrasonic sensor S1 in its front after task, S6 and judging the environment in front, define and do not have barricade to enter range of movement, memory command will be sent to STM32F407 as there is barricade, STM32F407 can do very first time response to interruption, then with MC58113 communication, rotated forward by the input control DC brushless motor X adjusting MC58113, DC brushless motor Y reverses, firefighting robot 90-degree rotation to the right under the control of three axis accelerometer sensors A 1 and three-axis 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 internal position register of MC58113 can add 1 or subtract 1 according to the traffic direction of DC brushless motor X and DC brushless motor Y;
6) in firefighting robot motion process, when being contained in the position signalling A pulse of the photoelectric encoder on DC brushless motor X and DC brushless motor Y and B pulse and Z pulse simultaneously for low level, just produce an INDEX signal to 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, ultrasonic 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.
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, ultrasonic sensor S2, S3 and S4, S5 can judge the barricade of left and right, and record stores current search room barricade information, firefighting robot enters single wall navigation mode or two wall navigation mode according to the room information of working direction left and right barricade, and then combine the left and right barricade navigation threshold values of setting, the acceleration signal of three axis accelerometer sensors A 1 and three-axis gyroscope G1 real time record firefighting robot also gives controller, controller obtains instantaneous angular information respectively by integration, the instantaneous acceleration of record 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 three axis accelerometer sensors A 1, 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;
Photoelectric sensor S7 starts working, light source under new coordinate is judged, if photoelectric sensor captures signal and notification controller is found target, controller can allow photoelectric sensor forbid work work in 2 seconds, photoelectric sensor is reopened after 2 seconds, if again capture photosignal, controller can open the solenoid valve of the dry-ice fire extinguisher carried, start to carry out sprinkling dry ice to candle until light source disappears, then controller recalls the path that firefighting robot has been searched for, and give up the target of not searching, the optimal path searching room is found out by Flood Fill algorithm, then firefighting robot gets back to search starting point fast according to this path,
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;
9) if judge that front has barricade to enter range of movement at firefighting robot along ultrasonic sensor S1 and S6 in the forward movement of current direction, and now ultrasonic sensor S2, S3, S4, when having barricade about S5 judges respectively, firefighting robot will store now coordinate (X, Y), the location parameter YS1 travelling forward and stop is calculated according to the feedback of ultrasonic sensor S1 and S6, according to exploring controller speed and acceleration, stopping distance parameter is forward converted into the position that firefighting robot DC brushless motor X and DC brushless motor Y will run by STM32F407, 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, ultrasonic 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 working direction left and right barricade, and then combine the left and right barricade navigation threshold values of setting, three axis accelerometer sensors A 1 and three-axis gyroscope G1 record the real-time acceleration signal of firefighting robot and angular velocity signal and give controller, controller obtains instantaneous angular information respectively by integration, 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 DC brushless motor direction of motion contrary, firefighting robot original place realizes 180 degree, accurate original place and turns under the control of three axis accelerometer sensors A 1, 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 ultrasonic 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, ultrasonic 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 working direction, and then combine the left barricade navigation threshold values of setting, three axis accelerometer sensors A 1 and three-axis gyroscope G1 record the real-time acceleration signal of firefighting robot and angular velocity signal and give controller, controller obtains instantaneous angular information by integration, controller record also 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 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 direct current generator X and direct current generator 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, ultrasonic sensor S2, S3, S4, S5 cannot provide reference by location for system, and system relies on three axis accelerometer sensors A 1 and three-axis gyroscope to carry out position correction.Three axis accelerometer sensors A 1 and its instantaneous acceleration of three-axis gyroscope G1 real time record and angular velocity in firefighting robot fast searching turning process, then controller obtains its positional information by integration, 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, 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 ultrasonic 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 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, ultrasonic 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 working direction, and then combine the left barricade navigation threshold values of setting, three axis accelerometer sensors A 1 and three-axis gyroscope G1 record the real-time acceleration signal of firefighting robot and angular velocity signal and give controller, controller obtains instantaneous angular information respectively by integration, controller record also 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;
Photoelectric sensor S7 starts working, light source under new coordinate is judged, if photoelectric sensor captures signal and notification controller is found target, controller can allow photoelectric sensor forbid work work in 2 seconds, photoelectric sensor S7 is reopened after 2 seconds, if again capture photosignal, controller can open the solenoid valve of the dry-ice fire extinguisher carried, and starts to carry out sprinkling dry ice to candle until light source disappears; 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;
11) if having barricade to enter the range of movement in front at firefighting robot in the forward movement of current direction, and now ultrasonic sensor S2 and S3 of left and right judges that the left side is without barricade, and 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 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 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;
Photoelectric sensor S7 starts working, light source under new coordinate is judged, if photoelectric sensor captures signal and notification controller is found target, controller can allow photoelectric sensor forbid work work in 2 seconds, photoelectric sensor S7 is reopened after 2 seconds, if again capture photosignal, controller can open the solenoid valve of the dry-ice fire extinguisher carried, and starts to carry out sprinkling dry ice to candle until light source disappears; 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 STM32F407 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, regulate the servocontrol adjustment firefighting robot of direct current generator M and the friction factor on ground with Time Controller, prevent fast return ground from skidding.
13) in firefighting robot room search process, STM32F407 can carry out on-line identification to the torque of DC brushless motor X, DC brushless motor Y, direct current generator M, due to system employing is three Close loop servo control, if there is pulsation in torque, controller can utilize the relation control MC58113 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), 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, under the control of firefighting robot three axis accelerometer sensors A 1, three-axis gyroscope G1, turnback is revolved in original place, original place self-locking, waits for next seek command.
Of the present invention is a kind of double-core two-wheeled middling speed firefighting robot servo controller, has following beneficial effect:
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 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 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 two DC brushless motor X of MC58113 process firefighting robot and DC brushless motor Y, single shaft absorption and control direct current generator M, 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 system band loading capability stronger, speed adjustable range is wider, and contrast of regulating speed is steady;
6, the data adopting MC58113 process three 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 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 middle slow running hourly velocity;
8, three axis accelerometer sensors A 1 and three-axis gyroscope G1 is introduced at this firefighting robot system, the angle information of firefighting robot can be obtained by angular velocity 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;
9, in firefighting robot operational process, STM32F407 can carry out on-line identification to the torque of DC brushless motor X, DC brushless motor Y and direct current generator M 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 seeking at a high speed burning things which may cause a fire disaster is eliminated;
11, 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 driving 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.
The foregoing is only the specific embodiment of the present invention; but protection scope of the present invention is not limited thereto; any those of ordinary skill in the art are in the technical scope disclosed by the present invention; the change can expected without creative work or replacement, all should be encompassed within protection scope of the present invention.Therefore, the protection domain that protection scope of the present invention should limit with claims is as the criterion.
Claims (8)
1. a double-core two-wheeled middling speed firefighting robot servo controller, it is characterized in that: comprise battery, dual-core controller, direct current generator M, DC brushless motor X, DC brushless motor Y, signal processor and firefighting robot, described dual-core controller sends the 3rd control signal and drives described direct current generator M, described dual-core controller sends the second control signal and drives described DC brushless motor Y, described dual-core controller sends the first control signal and drives described DC brushless motor X, described direct current generator M, DC brushless motor X, DC brushless motor Y is by firefighting robot described in signal processor processes rear drive, described dual-core controller is STM32F407 and MC58113, described MC58113 enters real-time communication by I/O mouth and STM32F407.
2. double-core two-wheeled middling speed firefighting robot servo controller according to claim 1, is characterized in that: described two-wheeled middling speed firefighting robot servo controller is also provided with the first ultrasonic sensor, the second ultrasonic sensor, the 3rd ultrasonic sensor, the 4th ultrasonic sensor, the 5th ultrasonic sensor, the 6th ultrasonic echography wave sensor, photoelectric sensor, voltage sensor, 3-axis acceleration flowmeter sensor, three-axis gyroscope, the first current sensor and the second current sensor.
3. double-core two-wheeled middling speed firefighting robot servo controller according to claim 1, it is characterized in that: described dual-core controller comprises host computer procedure and motion control program, described host computer procedure comprises room and explores module, room storage module, path read module, human-computer interface module and online output module, described motion control program comprises based on the synchronous brush DC of MC58113 tri-axle and direct current mixing servo control module, coordinate setting module and I/O control module, described comprising based on the synchronous brush DC of MC58113 tri-axle and direct current mixing servo control module searches servo control module and single axle vacuum sucker suction servo control module based on diaxon DC brushless motor firefighting robot.
4. double-core two-wheeled middling speed firefighting robot servo controller according to claim 1, is characterized in that: described dual-core controller is also connected with dry-ice fire extinguisher solenoid valve.
5. double-core two-wheeled middling speed firefighting robot servo controller according to claim 1, is characterized in that: described battery is lithium ion battery.
6. double-core two-wheeled middling speed firefighting robot servo controller according to claim 1, is characterized in that: described DC brushless motor X, DC brushless motor Y are also respectively arranged with photoelectric encoder.
7. double-core two-wheeled middling speed firefighting robot servo controller according to claim 3, is characterized in that: the vacuum cup in described single axle vacuum sucker suction servo control module is driven by direct current generator M.
8. according to claim 7 based on STM32F407 and FPGA two-wheeled high speed firefighting robot servo controller, it is characterized in that: described vacuum cup is corresponding with described ground absorption to be arranged thus prevents from skidding.
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| CN106137612A (en) * | 2016-07-28 | 2016-11-23 | 江苏若博机器人科技有限公司 | A kind of wireless double-core Two-wheeled is freely lifted robot electric sick bed controller |
| CN106176085A (en) * | 2016-07-28 | 2016-12-07 | 江苏若博机器人科技有限公司 | A kind of wireless double-core electric hospital bed controller of three-wheel drive high speed robot |
| CN109891350A (en) * | 2016-11-02 | 2019-06-14 | 自动存储科技股份有限公司 | The method for controlling the movement of the robot to orbit |
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| CN112596529B (en) * | 2020-12-17 | 2024-02-27 | 珠海一微半导体股份有限公司 | Direction-based robot walking speed adjusting method, chip and vision robot |
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Application publication date: 20151202 |