CN105137975A - Six-wheel double-core automatic high speed fire extinguishing robot servo controller - Google Patents

Abstract

The invention discloses a six-wheel double-core automatic high speed fire extinguishing robot servo controller, comprising an image collection unit. A processor is in communication connection with the image collection unit, wherein the processor adopts a double-core processor comprising an STM32F407 and a FPGA; and the STM32F407 and the FPGA are in communication connection. Through above arrangement, the six-wheel double-core automatic high speed fire extinguishing robot servo controller is a six-wheel double-core brand new control mode based on the STM32F407+FPGA; with the FPGA being the processing core, the control board realizes signal real-time processing of eight-axis mixing servo control of a six-axis DC brushless motor and a two-axis DC motor; the introduction of the vacuum absorption technology completely eliminates walking slipping of the robot, which improves the precision of the robot position; and the image collection technology and the fire source position correction technology can effectively increases the determination of the fire resources and the reliability of the fire extinguishing.

Description

Six take turns double-core fully automatic high-speed firefighting robot servo controller

Technical field

The present invention relate to multi-axis robot etc. field, relating to a kind of six takes turns firefighting robot automatic control system, particularly relates to a kind of six and takes turns double-core fully automatic high-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 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.In the search burning things which may cause a fire disaster map 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 two dimensional surface;

2) algorithm: algorithm is the soul of firefighting robot, firefighting robot must adopt certain intelligent algorithm could arrive the motion in an other lattice room quickly and accurately from room lattice, then find burning things which may cause a fire disaster, and open self-contained dry ice controller, put out burning things which may cause a fire disaster;

3) microprocessor: microprocessor is the core of firefighting robot, be 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;

(3) owing to adopting stepper motor, the occasion that system is generally not suitable for speed is higher is run, and easily produces vibration, sometimes may contact wall during high-speed motion, causes finding burning things which may cause a fire disaster failure;

(4) because firefighting robot will brake frequently and start, increased the weight of the workload of single-chip microcomputer, single single-chip microcomputer cannot meet the requirement that firefighting robot starts fast and stops;

(5) 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;

(6) 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;

(7) 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;

(8) owing to adopting two power wheels to drive, acceleration during in order to meet fast searching burning things which may cause a fire disaster and deceleration, make the power of single drive motor larger, the space not only taken is larger, and under the state that some relative requirements energy are lower, sometimes cause the phenomenon of " low load with strong power " to occur, be unfavorable for the saving of the firefighting robot system energy;

(9) based on the firefighting robot that monokaryon controls, particularly for the firefighting robot of many wheels, because the algorithm of processor process is more, arithmetic speed is not very fast, is unfavorable for running up;

(10) in some conditions, in order to increase arithmetic speed, in monokaryon controller, introducing special motion chip processing section servo control algorithm, but be subject to the impact of the ability of special chip own, although arithmetic speed obtains certain raising, not also very desirable;

(11) 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;

(12) in actual fire extinguishing procedure, due to the burning of candle, it is highly also changing, and the burning things which may cause a fire disaster in this and reality is also closely similar, but the nozzle height of the dry-ice fire extinguisher that general firefighting robot carries is fixing, cause effectively to put out burning things which may cause a fire disaster;

(13) in actual fire extinguishing procedure, common light source acquisition sensor can may receive the interference of external light source, causes fire extinguishing to seek failure, cannot finish the work.

Therefore, need to redesign based on monolithic processor controlled two-wheeled firefighting robot controller existing, seek a kind ofly economic and practical the double-core six of use in reality to take turns high-speed full-automatic firefighting robot servo-drive system.

Summary of the invention

The technical matters that the present invention mainly solves is to provide a kind of six and takes turns double-core fully automatic high-speed firefighting robot servo controller, better can improve the adaptive faculty of firefighting robot to complex environment, the present invention adopts six wheel constructions to instead of original two-wheeled and four wheel constructions: in order to take into account the mid-advantage turned to of two-wheeled, the present invention adopt forerunner+in drive+six wheel drive structures of rear-guard: two DC brushless motor power of mid-driving are larger, four DC brushless motor power of preposition and rearmounted driving are less, only just start when power demand is higher, play power-assisted effect, owing to adopting six wheel drive technology, take turns all dynamic in before and after firefighting robot, can be different with ambient conditions and demand torque is distributed on all wheel in front and back by different proportion by exploring ground, to improve the driveability of firefighting robot.

For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide a kind of six and take turns double-core fully automatic high-speed firefighting robot servo controller, comprise battery, processor, DC brushless motor X, DC brushless motor Y, DC brushless motor Z, direct current generator M, DC brushless motor R, DC brushless motor U, DC brushless motor W, direct current generator E and firefighting robot, described battery provides separately the processor described in electric current driving, and described processor sends the first control signal respectively, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal and the 7th control signal, by the first described control signal, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal, 7th control signal and the 8th control signal, by the first described control signal, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal and the 7th control signal, by the first described control signal, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal, 7th control signal and the 8th control signal control described DC brushless motor X respectively, DC brushless motor Y, DC brushless motor Z, direct current generator M, DC brushless motor R, DC brushless motor U, the motion of firefighting robot is controlled again after the signal syntheses of DC brushless motor W and direct current generator E, also comprise image acquisition units, described processor is connected with image acquisition units communication, wherein, described processor adopts dual core processor, comprise STM32F407 and FPGA, described FPGA and STM32F407 communicates to connect.

In a preferred embodiment of the present invention, described battery adopts lithium ion battery.

In a preferred embodiment of the present invention, the first described control signal, the second control signal, the 3rd control signal, the 4th control signal, the 5th control signal, the 6th control signal, the 7th control signal and the 8th control signal are PWM wave control signal.

In a preferred embodiment of the present invention, the inside of described processor 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 based on FPGA eight axle synchronized mixes servo control module, coordinate setting module, I/O control module and image capture module, wherein, described comprises six axle DC brushless motor firefighting robots search servo control module based on FPGA eight axle synchronized mixes servo control module, single axle vacuum sucker suction servo control module and flame snuffer single shaft lift servo control module.

In a preferred embodiment of the present invention, described six take turns firefighting robot servo controller also comprises ultrasonic sensor, current sensor, photoelectric sensor, voltage sensor, acceierometer sensor, gyroscope and direction sensor, and described ultrasonic sensor, current sensor, photoelectric sensor, voltage sensor, acceierometer sensor, gyroscope and direction sensor are all connected with processor communication.

In a preferred embodiment of the present invention, the quantity of described ultrasonic sensor is 6, the quantity of current sensor is 8, the quantity of photoelectric sensor, voltage sensor, acceierometer sensor, gyroscope and direction sensor is 1.

In a preferred embodiment of the present invention, described six take turns firefighting robot servo controller also comprises photoelectric encoder, and described photoelectric encoder is arranged on DC brushless motor X, DC brushless motor Y, DC brushless motor Z, direct current generator M, DC brushless motor R, DC brushless motor U, DC brushless motor W and direct current generator E respectively.

The invention has the beneficial effects as follows: of the present invention six take turns double-core fully automatic high-speed firefighting robot servo controller, the stability of diaxon firefighting robot walking can not be met for overcoming single-chip microcomputer, the speed of further raising firefighting robot walking, give up the single single-chip microcomputer mode of operation that domestic firefighting robot adopts, under the prerequisite absorbing external Dynamic matrix control thought, independently invent and taken turns the brand-new control model of double-core based on six of STM32F407+FPGA.Control panel take FPGA as process core, and the servo-controlled digital signal of eight axles realizing six axle DC brushless motors and diaxon direct current generator processes in real time, and responds various interruption, realizes the real-time storage of data-signal.Dual-core controller frees STM32F407 in the middle of the work of complexity, realize the signal transacting of the simple part such as room information reading, room storage, I/O control, image acquisition, and respond FPGA interruption, realize data communication therebetween and store live signal.Meanwhile, the introducing of vacuum suction technology completely eliminates the generation of robot ambulation skidding, effectively improves the accuracy of robot location; Acquisition technology and adding of fire location alignment technique effectively can increase the differentiation of burning things which may cause a fire disaster and the reliability of fire extinguishing.

Accompanying drawing explanation

In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings, wherein:

Fig. 1 is firefighting robot room schematic diagram;

Fig. 2 is based on monolithic processor controlled two-wheeled firefighting robot schematic diagram;

Fig. 3 is for take turns firefighting robot structural drawing based on STM32F407+FPGA six;

Fig. 4 is for take turns full-automatic fire-extinguishing machine people schematic diagram based on STM32F407+FPGA six;

Fig. 5 is for take turns full-automatic fire-extinguishing machine people servo programe block diagram based on STM32F407+FPGA six;

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

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.

As shown in Figure 4, the present embodiment comprises:

A kind of six take turns double-core fully automatic high-speed firefighting robot servo controller, comprise battery, processor, DC brushless motor X, DC brushless motor Y, DC brushless motor Z, direct current generator M, DC brushless motor R, DC brushless motor U, DC brushless motor W, direct current generator E and firefighting robot, described battery provides separately the processor described in electric current driving, and described processor sends the first control signal respectively, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal and the 7th control signal, by the first described control signal, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal, 7th control signal and the 8th control signal, by the first described control signal, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal and the 7th control signal, by the first described control signal, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal, 7th control signal and the 8th control signal control described DC brushless motor X respectively, DC brushless motor Y, DC brushless motor Z, direct current generator M, DC brushless motor R, DC brushless motor U, the motion of firefighting robot is controlled again after the signal syntheses of DC brushless motor W and direct current generator E, also comprise image acquisition units, described processor is connected with image acquisition units communication, wherein, described processor adopts dual core processor, comprise STM32F407 and FPGA, described FPGA and STM32F407 communicates to connect.

As shown in Figure 3, described six take turns firefighting robot servo controller also comprises ultrasonic sensor, current sensor, photoelectric sensor, voltage sensor, acceierometer sensor, gyroscope and direction sensor, and described ultrasonic sensor, current sensor, photoelectric sensor, voltage sensor, acceierometer sensor, gyroscope and direction sensor are all connected with processor communication.Wherein, the quantity of described ultrasonic sensor is 6, and in the present embodiment, ultrasonic sensor is labeled as S1, S2, S3, S4, S5 and S6; The quantity of current sensor is 8, and in the present embodiment, current sensor is labeled as C1, C2, C3, C4, C5, C6, C7 and C8; The quantity of photoelectric sensor, voltage sensor, acceierometer sensor, gyroscope and direction sensor is 1, in the present embodiment, photoelectric sensor is labeled as S7, voltage sensor is labeled as V1, acceierometer sensor is labeled as A1, gyroscope is labeled as G1, direction sensor be labeled as D1.

As shown in Figure 5, the inside of described processor 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 based on FPGA eight axle synchronized mixes servo control module, coordinate setting module, I/O control module and image capture module, wherein, described comprises six axle DC brushless motor firefighting robots search servo control module based on FPGA eight axle synchronized mixes servo control module, 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 (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.

FPGA is the abbreviation of English FieldProgrammableGateArray, i.e. field programmable gate array, is the product further developed on the basis of the programming devices such as PAL, GAL, EPLD.It occurs as a kind of semi-custom circuit in special IC (ASIC) field, namely solves the deficiency of custom circuit, overcomes again the shortcoming that original programming device gate circuit number is limited.

FPGA have employed logical cell array LCA(LogicCellArray) such new ideas, inside comprises configurable logic blocks CLB(ConfigurableLogicBlock), export load module IOB(InputOutputBlock) and interconnector (Interconnect) three parts.The basic characteristics of FPGA mainly contain:

1) adopt FPGA ASIC design circuit, user does not need to throw sheet and produces, and just can obtain the chip share;

2) FPGA can do the middle coupons of other full custom or semi-custom ASIC circuit;

3) there are abundant trigger and I/O pin in FPGA inside;

4) FPGA be that in ASIC circuit, the design cycle is the shortest, development cost are minimum, one of the device of least risk;

5) FPGA adopts high speed CHMOS technique, low in energy consumption, can be compatible with CMOS, Transistor-Transistor Logic level.

Can say, fpga chip is one of the optimal selection that short run system improves level of integrated system, reliability.

These characteristics makes user according to the design needs of oneself, can reconfigure connection, design the special IC of oneself within the shortest time by specific placement-and-routing instrument to its inside, so just reduces cost, shortens the construction cycle.Because FPGA adopts the design philosophy of software implementation to realize the design of hardware circuit, so just make, based on FPGA designed system, there is good reusable and amendment property.This brand-new design philosophy has been applied on high performance direct current generator and alternating current generator drived control gradually, and fast-developing.

In order to the adaptive faculty of firefighting robot to complex environment better can be improved, the present invention adopts six wheel constructions to instead of original two-wheeled and four wheel constructions: in order to take into account the mid-advantage turned to of two-wheeled, the present invention adopt forerunner+in drive+six wheel drive structures of rear-guard: two DC brushless motor power of mid-driving are larger, four DC brushless motor power of preposition and rearmounted driving are less, only just start when power demand is higher, play power-assisted effect.Owing to adopting six wheel drive technology, take turns all dynamic in before and after firefighting robot, can be different with ambient conditions and demand torque is distributed on all wheel in front and back by different proportion, to improve the driveability of firefighting robot by exploring ground.

Particularly:

In order to accurately room can be sought, the present invention adopts six groups of sensor detection room mode, the firefighting robot 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 ultrasonic sensor 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, ultrasonic sensor 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, ultrasonic sensor S4 and S5 can diverse location accurately measure on the right side of room from have barricade to without barricade or without barricade to the change having barricade, the sensor signal Spline smoothing of this position can be captured by controller, then fine compensation can be carried out to firefighting robot in this position, this for firefighting robot solve room find burning things which may cause a fire disaster and turn back to starting point calculate most important, if there is no this intelligent compensation, the cumulative errors of firefighting robot likely in complicated room are enough to make it cannot solve this room map, cause getting back to room starting point.

Take turns firefighting robot in the stability finding walking navigation in burning things which may cause a fire disaster process to improve six, the present invention adds acceierometer sensor A1, gyroscope G1 and the direction sensor D1 of three axles in firefighting robot servo hardware system.During firefighting robot walking room, omnidistance acceierometer sensor A1, gyroscope G1 and direction sensor D1, acceierometer sensor A1, gyroscope G1 and the direction sensor D1 of opening is used for measuring the acceleration of firefighting robot three working direction, speed and angle.Controller obtains its anglec of rotation according to the direction signal recorded.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 that six take turns 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 miniature direct current generator 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.

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 the stability that single-chip microcomputer can not meet the walking of diaxon firefighting robot, the speed of further raising firefighting robot walking, give up the single single-chip microcomputer mode of operation that domestic firefighting robot adopts, under the prerequisite absorbing external Dynamic matrix control thought, independently invent and taken turns the brand-new control model of double-core based on six of STM32F407+FPGA.Control panel take FPGA as process core, and the servo-controlled digital signal of eight axles realizing six axle DC brushless motors and diaxon direct current generator processes in real time, and responds various interruption, realizes the real-time storage of data-signal.Dual-core controller frees STM32F407 in the middle of the work of complexity, realize the signal transacting of the simple part such as room information reading, room storage, I/O control, image acquisition, and respond FPGA interruption, realize data communication therebetween and store live signal.

For reaching above-mentioned purpose, the present invention takes following technical scheme, in order to improve arithmetic speed, stability and the reliability of firefighting robot system are taken turns in guarantee six, the present invention has given up Special precision motion control special chip in based on the controller of STM32F407, and introduce FPGA, form the brand-new dual-core controller based on STM32F407+FPGA.Dual-core controller introduces vacuum suction technology and acceierometer sensor simultaneously, improves stability when it is walked and accuracy further.This controller takes into full account the effect of battery in this system, FPGA process is given eight axle mixing servocontrol of six maximum for workload in control system axle brush DC servos and diaxon DC servo composition, give full play to the comparatively faster feature of FPGA data processing speed, STM32F407 is freed from eight axle servocontrol of complexity, realizes the simple functions such as man-machine interface, room reading, room storage, image acquisition.

Under power-on state, firefighting robot is introduced into self-locking state.First controller opens the direct current generator M of vacuum draw, by aspirator first to micro vacuum sucker suction, make vacuum cup over the ground mask have certain adsorptive power.Firefighting robot is by ultrasonic sensor S1, S6 judges forward environment, and actual navigational environment is converted into controling parameters and is transferred to FPGA, and FPGA is converted into firefighting robot DC brushless motor X these environmental parameters, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U, the position that DC brushless motor W will run, speed and acceleration command value, the feedback of FPGA recombination current sensor C1-C6 and motor photoelectric encoder generates and controls DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U, the pwm control signal of DC brushless motor W, control signal amplifies rear drive DC brushless motor X through drive axle, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U, DC brushless motor W travels forward, acceierometer sensor A1, gyroscope G1, direction sensor D1 and photoelectric encoder in real time the signal feedback recorded to FPGA, by the attitude of FPGA secondary correction firefighting robot.Firefighting robot is in motion process, FPGA regulates vacuum plant to the adsorptive power on ground by direct current generator M according to firefighting robot movement velocity automatically, increase effectively friction, prevent firefighting robot to walk fast skidding, STM32F407 stores room information in real time.After controller finds burning things which may cause a fire disaster, image capturing system is opened.Controller is under 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, finds out return shortest path by Flood Fill algorithm, and firefighting robot is also opened six and taken turns 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) move and solve at a high speed seek room slippage problems in order to six can be driven to take turns firefighting robot, this control system introduces FPGA, the PWM wave control signal that six tunnels control DC brushless motor and two-way control direct current generator is produced by it, FPGA enters real-time communication by I/O mouth and STM32F407, controls it turn on and off by STM32F407;

2) opening power moment, STM32F407 can detect cell voltage, if low pressure, FPGA will block DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U, the PWM wave control signal of DC brushless motor W, motor can not start, voltage sensor V1 is by work simultaneously, and send alerting signal, if system voltage is normal, FPGA will open the PWM wave control signal of the direct current generator M of vacuum draw, first micro vacuum sucker is aspirated by aspirator, make vacuum cup over the ground mask have certain adsorptive power, meet the rate request that firefighting robot seeks burning things which may cause a fire disaster,

3) before firefighting robot does not receive exploration order, its generally can wait at starting point coordinate (0,0) exploration order that controller send, once after receiving task, meeting start to carry out the exploration of full palace to find burning things which may cause a fire disaster along starting point;

4) firefighting robot is placed on starting point coordinate (0, 0), generally, firefighting robot is placed according to the direction (computer programming code is 0) in north in Fig. 6, receive the 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 the four-wheel PWM wave control signal driven before and after being forbidden by adjustment FPGA is exported, the two-way PWM wave control signal driven in enable exports, control DC brushless motor X to rotate forward, DC brushless motor Y reverses, firefighting robot is at acceleration transducer A1, 90-degree rotation to the right under the control of gyroscope G1 and direction sensor D1, firefighting robot is first along the X-axis forward (direction in east, computer programming code is 2) search burning things which may cause a fire disaster,

5) in firefighting robot motion process, be contained in DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U, DC brushless motor W, direct current generator M, photoelectric encoder on direct current generator E can export its position signalling A and position signalling B and feed back to FPGA, position signalling A pulse and the B pulsed logic state of photoelectric encoder often change once, the location register of FPGA can according to DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U, DC brushless motor W, the traffic direction of direct current generator M and direct current generator E adds 1 or subtract 1,

6) 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, DC brushless motor U, DC brushless motor W, direct current generator M, direct current generator E and B pulse and Z pulse simultaneously for low level, just produce an INDEX signal to FPGA register, the absolute position of record motor, is then converted into firefighting robot particular location in a room;

7) in order to firefighting robot coordinate computing function accurately can be realized, ultrasonic sensor S2 about firefighting robot, S3 and ultrasonic sensor S4, S5 can detect the room barricade about direction of motion and pillar in the moment, if ultrasonic sensor S2, S3 or ultrasonic sensor 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 giving FPGA the location parameter of the lattice that travel forward, FPGA is being converted into firefighting robot DC brushless motor X to last lattice parameter, DC brushless motor Y, DC brushless motor Z, the position that DC brushless motor R will run, speed and acceleration command value, the feedback of FPGA recombination current sensor C1-C4 and motor photoelectric encoder generates and controls DC brushless motor X, DC brushless motor Y, DC brushless motor Z, the pwm control signal of DC brushless motor R, control signal amplifies rear drive DC brushless motor X through drive axle, DC brushless motor Y, DC brushless motor Z, DC brushless motor R travels forward, at firefighting robot along in current room lattice explored going forward process, and ultrasonic sensor S2, S3 and ultrasonic sensor 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, acceierometer sensor A1, gyroscope G1 and direction sensor D1 measures the real-time acceleration of firefighting robot in real time, speed and angle signal also give FPGA, and FPGA record stores the instantaneous acceleration of firefighting robot, speed and positional information, when firefighting robot rapid discovery has departed from setting center, microprocessor has been converted into firefighting robot DC brushless motor X according to the deviation leaving center by FPGA, DC brushless motor Y, DC brushless motor Z, the new position that DC brushless motor R will run, speed and acceleration command value, FPGA recombination current sensor C1-C4, motor photoelectric encoder, accelerometer sensor A1, the feedback of gyroscope G1 and direction sensor D1, fine setting DC brushless motor X, DC brushless motor Y, DC brushless motor Z, the pwm control signal of DC brushless motor R, control signal amplifies rear drive DC brushless motor X through drive axle, DC brushless motor Y, DC brushless motor Z, DC brushless motor R travels forward, 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, direct current generator M can be regulated to strengthen the friction on firefighting robot and ground for FPGA and six of enable front middle rear-guard take turns PWM wave control signal, and DC brushless motor X opened by controller, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U and DC brushless motor W, system enters six wheel drive states, and FPGA, according to time and rate request, is converted into firefighting robot DC brushless motor X remaining distance D, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, the new position that DC brushless motor U and DC brushless motor W will run, speed and acceleration command value, FPGA recombination current sensor C1-C6, the feedback of motor photoelectric encoder, generates DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, the pwm control signal of DC brushless motor U and DC brushless motor W, control signal amplifies rear drive DC brushless motor X through drive axle, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U and DC brushless motor W travels forward, and firefighting robot still advances according to original navigation mode under driving state six, acceierometer sensor A1, gyroscope G1 and direction sensor D1 measures the real-time acceleration of firefighting robot in real time, speed and angle signal also give FPGA, and FPGA record stores the instantaneous acceleration of firefighting robot, speed and positional information, microprocessor is converted into firefighting robot DC brushless motor X according to the deviation leaving center by FPGA, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, the new position that DC brushless motor U and DC brushless motor W will run, speed and acceleration command value, FPGA recombination current sensor C1-C6, motor photoelectric encoder, accelerometer sensor A1, the feedback of gyroscope G1 and direction sensor D1, fine setting DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, the pwm control signal of DC brushless motor U and DC brushless motor W, control signal amplifies rear drive DC brushless motor X through drive axle, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U and DC brushless motor W travels forward.Can the attitude of accurate adjustment firefighting robot by this mode, make it come back to setting center; When a lattice distance of moving under the control of firefighting robot at acceierometer sensor A1 arrives new address, microprocessor will upgrade its coordinate information;

If the direction when coordinate (X, Y) is north, be (X, Y+1) at its coordinate of renewal, new coordinate direction is still north; If the direction when coordinate (X, Y) is east, be (X+1, Y) at its coordinate of renewal, new coordinate direction is still east; If the direction when coordinate (X, Y) is south, be (X, Y-1) at its coordinate of renewal, new coordinate direction is still south; If the direction when coordinate (X, Y) is west, be (X-1, Y) at its coordinate of renewal, new coordinate direction is still west;

9) if judge that front has barricade to enter range of movement at firefighting robot along 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), calculate the location parameter YS1 travelling forward and stop according to the feedback of ultrasonic sensor S1 and S6, required stopping distance parameter to be forward converted into firefighting robot DC brushless motor X according to exploration controller speed and acceleration by FPGA, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, the position that DC brushless motor U and DC brushless motor W will run, speed and acceleration command value, the feedback of FPGA recombination current sensor C1-C6 and motor photoelectric encoder generates and controls DC brushless motor X, DC brushless motor Y, DC brushless motor Z, the pwm control signal of DC brushless motor R, control signal amplifies rear drive DC brushless motor X through drive axle, DC brushless motor Y, DC brushless motor Z, DC brushless motor R travels forward.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, and firefighting robot enters two wall navigation mode according to the room information of working direction left and right barricade, and then combines the left and right barricade navigation threshold values of setting, acceierometer sensor A1, gyroscope G1 and direction sensor D1 measures the real-time acceleration of firefighting robot in real time, speed and angle signal also give FPGA, and FPGA record stores the instantaneous acceleration of firefighting robot, speed and positional information, when firefighting robot stop fast departed from setting center time, microprocessor is converted into firefighting robot DC brushless motor X according to the deviation leaving center by FPGA, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, the new position that DC brushless motor U and DC brushless motor W will run, speed and acceleration command value, FPGA recombination current sensor C1-C6, motor photoelectric encoder, accelerometer sensor A1, the feedback of gyroscope G1 and direction sensor D1, fine setting DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, the pwm control signal of DC brushless motor U and DC brushless motor W, control signal amplifies rear drive DC brushless motor X through drive axle, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U and DC brushless motor W travels forward, 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, the PWM ripple that FPGA readjusts firefighting robot six motors exports, first four road PWM wave control signal work of front and back wheel are forbidden, the two-wheeled PWM ripple driven in simultaneously enable exports, drive DC brushless motor X and DC brushless motor Y direction of motion in making contrary, firefighting robot original place is at accelerometer sensor A1, realize 180 degree, accurate original place under the control of gyroscope G1 and direction sensor D1 to turn to, 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 judges that there is barricade on the left side, and ultrasonic sensor 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 FPGA requires distance R90_Leading very short for walking straight line to generate firefighting robot DC brushless motor X according to the different search speed of controller and acceleration, DC brushless motor Y, DC brushless motor Z, the position that DC brushless motor R will run, speed and acceleration command value, the feedback of FPGA recombination current sensor C1-C4 and motor photoelectric encoder generates and controls DC brushless motor X, DC brushless motor Y, DC brushless motor Z, the pwm control signal of DC brushless motor R, control signal amplifies rear drive DC brushless motor X through drive axle, DC brushless motor Y, DC brushless motor Z, DC brushless motor R travels forward, at firefighting robot along in current room lattice explored going forward process, and ultrasonic sensor S2, S3 can judge left barricade, and record stores current search room barricade information, and firefighting robot enters Dan Zuoqiang navigation mode according to the room information of the left barricade of working direction, and then combines the left barricade navigation threshold values of setting, acceierometer sensor A1, gyroscope G1 and direction sensor D1 measures the real-time acceleration of firefighting robot in real time, speed and angle signal also give FPGA, and FPGA record stores the instantaneous acceleration of firefighting robot, speed and positional information, when firefighting robot rapid discovery has departed from setting center, microprocessor has been converted into firefighting robot DC brushless motor X according to the deviation leaving center by FPGA, DC brushless motor Y, DC brushless motor Z, the new position that DC brushless motor R will run, speed and acceleration command value, FPGA recombination current sensor C1-C4, motor photoelectric encoder, accelerometer sensor A1, the feedback of gyroscope G1 and direction sensor D1, fine setting DC brushless motor X, DC brushless motor Y, DC brushless motor Z, the pwm control signal of DC brushless motor R, control signal amplifies rear drive DC brushless motor X through drive axle, DC brushless motor Y, DC brushless motor Z, DC brushless motor R travels forward, can the attitude of accurate adjustment firefighting robot by this mode, makes it 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, direct current generator M can be regulated to strengthen the friction on firefighting robot and ground for FPGA and six of enable front middle rear-guard take turns PWM wave control signal, and DC brushless motor X opened by controller, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U and DC brushless motor W, system enters six wheel drive states, and FPGA, according to time and rate request, is converted into firefighting robot DC brushless motor X remaining distance D, DC brushless motor Y, DC brushless motor Z, the new position that DC brushless motor R will run, speed and acceleration command value, FPGA recombination current sensor C1-C6, motor photoelectric encoder, accelerometer sensor A1, the feedback of gyroscope G1 and direction sensor D1, fine setting DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, the pwm control signal of DC brushless motor U and DC brushless motor W, control signal amplifies rear drive DC brushless motor X through drive axle, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U and DC brushless motor W travels forward.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, prevent external interference from starting to do error compensation, after error compensation terminates, STM32F407 is by four DC brushless motors of 4 wheel driven before and after FPGA release, by in two DC brushless motors driving turn, controller starts to adjust DC brushless motor X and DC brushless motor Y speed makes it complete the curve movement of radian ARC, first FPGA 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, FPGA recombination current sensor C1, the feedback of C2 and motor photoelectric encoder generates the pwm control signal controlling motor X and motor Y, 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, system relies on acceierometer sensor A1 to carry out position correction, its instantaneous angular of direction sensor D1 real time record in firefighting robot fast searching turning process, controller then with the angle contrast of desired location, when firefighting robot fast searching has departed from desired location, within the new sampling period, FPGA is converted into deviation size the new position that firefighting robot DC brushless motor X and DC brushless motor Y will run, speed and acceleration command value, FPGA recombination current sensor C1, C2, motor photoelectric encoder, accelerometer sensor A1, the feedback of gyroscope G1 and direction sensor D1, the pwm control signal of fine setting DC brushless motor X and DC brushless motor Y, diaxon servo-drive system starts to carry out real-Time Compensation to adjust the attitude of firefighting robot, it is made to complete radian ARC,

When after arrival set objective, system relies on ultrasonic sensor S2, S3 starts navigation, FPGA requires distance R90_Passing very short for straight line moving to generate firefighting robot DC brushless motor X according to the different search speed of controller and acceleration, DC brushless motor Y, DC brushless motor Z, the position that DC brushless motor R will run, speed and acceleration command value, the feedback of FPGA recombination current sensor C1-C4 and motor photoelectric encoder generates and controls DC brushless motor X, DC brushless motor Y, DC brushless motor Z, the pwm control signal of DC brushless motor R, control signal amplifies rear drive DC brushless motor X through drive axle, DC brushless motor Y, DC brushless motor Z, DC brushless motor R travels forward.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, and firefighting robot enters Dan Zuoqiang navigation mode according to the room information of the left barricade of working direction, and then combines the left barricade navigation threshold values of setting, acceierometer sensor A1, gyroscope G1 and direction sensor D1 measures the real-time acceleration of firefighting robot in real time, speed and angle signal also give FPGA, and FPGA record stores the instantaneous acceleration of firefighting robot, speed and positional information, when firefighting robot rapid discovery has departed from setting center, microprocessor has been converted into firefighting robot DC brushless motor X according to the deviation leaving center by FPGA, DC brushless motor Y, DC brushless motor Z, the new position that DC brushless motor R will run, speed and acceleration command value, FPGA recombination current sensor C1-C4, motor photoelectric encoder, accelerometer sensor A1, the feedback of gyroscope G1 and direction sensor D1, fine setting DC brushless motor X, DC brushless motor Y, DC brushless motor Z, the pwm control signal of DC brushless motor R, control signal amplifies rear drive DC brushless motor X through drive axle, DC brushless motor Y, DC brushless motor Z, DC brushless motor R travels forward.Can the attitude of accurate adjustment firefighting robot by this mode, make it 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, direct current generator M can be regulated to strengthen the friction on firefighting robot and ground for FPGA and six of enable front middle rear-guard take turns PWM wave control signal, and DC brushless motor X opened by controller, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U and DC brushless motor W, system enters six wheel drive states, and FPGA, according to time and rate request, is converted into firefighting robot DC brushless motor X remaining distance D, DC brushless motor Y, DC brushless motor Z, the new position that DC brushless motor R will run, speed and acceleration command value, FPGA recombination current sensor C1-C6, motor photoelectric encoder, accelerometer sensor A1, the feedback of gyroscope G1 and direction sensor D1, fine setting DC brushless motor X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, the pwm control signal of DC brushless motor U and DC brushless motor W, control signal amplifies rear drive DC brushless motor X through drive axle, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U and DC brushless motor W travels forward, can the attitude of accurate adjustment firefighting robot by this mode, makes it come back to setting center, after arriving set objective, complete the geometric locus motion of whole right-hand bend, then control it and start to upgrade its coordinate and direction,

If the direction when coordinate (X, Y) is north, then upgrade its coordinate for (X+1, Y), new coordinate direction is east; If the direction when coordinate (X, Y) is east, then upgrade its coordinate for (X, Y-1), new coordinate direction is south; If the direction when coordinate (X, Y) is south, then upgrade its coordinate for (X-1, Y), new coordinate direction is west; If the direction when coordinate (X, Y) is west, then upgrade its coordinate for (X, Y+1), new coordinate direction is north;

11) if having barricade to enter the range of movement in front at firefighting robot in the forward movement of current direction, and now ultrasonic sensor S2 and S3 of left and right judges that the left side is without barricade, and ultrasonic sensor 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, 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;

12) after firefighting robot arrives new room lattice, photoelectric sensor S7 starts working, light source under new coordinate is judged, if photoelectric sensor S7 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 and candle, FPGA is converted into angle this angle, angular velocity, angular acceleration command value, FPGA is again 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, DC brushless motor X is rotated forward, direct current generator Y reverses, at acceierometer sensor A1, under gyroscope G1 and direction sensor D1 controls, firefighting robot starts the angle between original place rotation adjustment nozzle and candle, when after arrival set angle, controller makes the self-locking of firefighting robot original place,

STM32F407 is according to the difference in height between image capturing system determination nozzle and burning things which may cause a fire disaster, FPGA is converted into position this difference in height, speed, acceleration command value, the electricity of FPGA in conjunction with direct current generator 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 by FPGA, DC brushless motor X is reversed, DC brushless motor Y rotates forward, under acceierometer sensor A1, gyroscope G1 and direction sensor D1 control, firefighting robot starts original place rotation, and returns to the position just entering palace,

If photoelectric sensor S7 does not capture the light source under new coordinate, firefighting robot will leave current room lattice, continuation be searched and upgrade its coordinate;

13) when firefighting robot searches out light source, and spray after dry ice completes fire extinguishing, firefighting robot can be parked in impact point, then 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; Total at firefighting robot walking process, FPGA also detects the speed of travel of firefighting robot in real time, and can strengthen vacuum cup to the adsorptive power on ground by self-regulation motor M according to surface state system;

14) in firefighting robot room search process, FPGA can to high-speed DC brushless electric machine X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U, DC brushless motor W, direct current generator M, on-line identification is carried out in the torque of direct current generator E, due to system employing is three Close loop servo control, if there is pulsation in torque, FPGA can utilize the relation of direct current generator moment and electric current to carry out linear compensation to interference, effectively reduce motor torque shake to the impact of navigating during firefighting robot rapid discovery, add its antijamming capability,

15) starting point (0 is got back to when firefighting robot completes whole return trip, 0), control FPGA makes firefighting robot central point stop by STM32F407, and readjust FPGA drive singal, forbid front and back four road PWM wave control signal export and enable in the two-way PWM wave control signal that drives, drive singal amplifies rear drive DC brushless motor X and DC brushless motor Y through drive axle and moves with contrary direction, firefighting robot acceierometer sensor A1, under the control of gyroscope G1 and direction sensor D1, turnback is revolved in original place, the enable all PWM wave control signals of FPGA export, and make the self-locking of firefighting robot original place, wait for the order of next search burning things which may cause a fire disaster.

The beneficial effect that the present invention has is:

1: in motion process, take into full account battery effect in this system, all the running status of firefighting robot is being monitored and computing based on the STM32F407+FPGA controller moment, and in the process of cell powers, the electric current of current sensor C1-C8 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, and 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: the servocontrol of the direct current generator E be elevated by the direct current generator M of six DC brushless motor X, the DC brushless motor Y of FPGA process firefighting robot, DC brushless motor Z, DC brushless motor R, DC brushless motor U, DC brushless motor W, single shaft absorption and control, flame snuffer, make control fairly simple, substantially increase arithmetic speed, solve scm software and run slower bottleneck;

4: the present invention realizes full SMD components material substantially, achieve veneer and control, not only save control panel and take up room, and be conducive to alleviating of firefighting robot volume and weight;

5: owing to adopting DC brushless motor, make system band loading capability stronger, speed adjustable range is wider, and contrast of regulating speed is steady;

6: the data adopting FPGA process eight 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, FPGA can adjust its inner servo-controlled pid parameter according to the peripheral ruuning situation of robot in good time, realize segmentation P, PD, PID to control and nonlinear PID controller, make system meet the switching of middle slow running hourly velocity;

8, this six take turns firefighting robot system introduce three axis accelerometer sensors A 1, gyroscope G1 and direction sensor D1, directly can measure acceleration, angular velocity, the angle of firefighting robot, achieve the direct-detection of instantaneous acceleration, speed and angle when firefighting robot is explored in room, and utilize feedback to realize omnidistance navigation and second compensation, be conducive to the stability and the dynamic property that improve firefighting robot;

9: take turns in firefighting robot operational process six, FPGA can carry out on-line identification to the torque of high-speed DC brushless electric machine X, DC brushless motor Y, DC brushless motor Z, DC brushless motor R, DC brushless motor U, DC brushless motor W, direct current generator M and direct current generator E and utilize the relation of motor torque and electric current to compensate, and decreases burning things which may cause a fire disaster is sought in motor torque shake fast impact on firefighting robot;

10:FPGA can effectively regulate vacuum cup to the adsorptive power on ground by regulating the servocontrol of direct current generator M, eliminates the generation of firefighting robot skidding when seeking at a high speed burning things which may cause a fire disaster;

11: by FPGA according to exploring the speed of burning things which may cause a fire disaster, that acceleration requires that extraneous deviation is converted into the position of each Electric Machine Control, speed and acceleration is given, feedback again in conjunction with photoelectric encoder and current sensor exports PWM modulation signal and direction signal, can direct-driving motor by driving circuit, greatly improve arithmetic speed;

12: need to realize timesharing according to firefighting robot search power and drive more, when normal search, because required power is less, STM32F407 generally by four-wheel before and after FPGA release, can adopt the mode of the two-wheel drive of mid-power; And raise speed a little once run into, STM32407 can automatically detect and open two rearmounted power-assisted DC brushless motors by enable FPGA rearmounted two-way pwm control signal immediately, changed the servocontrol of motor M by FPGA simultaneously, drive+four-wheel drive the state of rear-guard during firefighting robot system is switched to naturally, enhance the reliability during search of firefighting robot; And once run into, road dust is more or firefighting robot speed is higher, STM32407 can automatically detect and pass through mid-six road pwm control signals before and after enable FPGA immediately, and open four power-assisted DC brushless motors of front and rear, changed the servocontrol of motor M by FPGA simultaneously, firefighting robot system be naturally switched to forerunner+in drive+six wheel drive states of rear-guard, further enhancing the reliability during search of firefighting robot;

13: due to adopt forerunner+in drive+compound six wheel-drive mode of rear-guard, when needs acceleration seek or return to origin time, controller is assigned to six DC brushless motors power, once power wheel because ground, physical construction etc. cause ground away from keyboard, STM32407 can redistribute moment of torsion, more moment of torsion is distributed on the driving wheel of non-stall by the enable corresponding PWM wave control signal of FPGA, make system hightail non-steady state and come back to six axle dynamic equilibrium states, firefighting robot being had and better seeks walking function;

14: when firefighting robot turns to, in order to ensure the stability rotated, FPGA forbids the PWM wave control signal work of front and back four road by enable mid-two-way PWM wave control signal, adopt two mid-DC brushless motors to realize searching turning, and discharge four power-assisted DC brushless motors of front and rear;

15: adding of image acquisition effectively can catch burning things which may cause a fire disaster, reduce external interference to the maloperation of robot;

16: regulate the direction of motion of DC brushless motor X and DC brushless motor Y contrary, the angle of firefighting robot rotation can be obtained by integrating accelerometer sensors A 1, 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;

17: the height that can be adjusted flame snuffer by the servocontrol of adjustment direct current generator E, is made fire extinguisher nozzle consistent with fire's point of origin height, be conducive to effectively putting out burning things which may cause a fire disaster.

The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize description of the present invention to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.

Claims (7)

1. six take turns a double-core fully automatic high-speed firefighting robot servo controller, it is characterized in that, comprise battery, processor, DC brushless motor X, DC brushless motor Y, DC brushless motor Z, direct current generator M, DC brushless motor R, DC brushless motor U, DC brushless motor W, direct current generator E and firefighting robot, described battery provides separately the processor described in electric current driving, and described processor sends the first control signal respectively, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal and the 7th control signal, by the first described control signal, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal, 7th control signal and the 8th control signal, by the first described control signal, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal and the 7th control signal, by the first described control signal, second control signal, 3rd control signal, 4th control signal, 5th control signal, 6th control signal, 7th control signal and the 8th control signal control described DC brushless motor X respectively, DC brushless motor Y, DC brushless motor Z, direct current generator M, DC brushless motor R, DC brushless motor U, the motion of firefighting robot is controlled again after the signal syntheses of DC brushless motor W and direct current generator E, also comprise image acquisition units, described processor is connected with image acquisition units communication, wherein, described processor adopts dual core processor, comprise STM32F407 and FPGA, described FPGA and STM32F407 communicates to connect.

2. according to claim 1 six take turns double-core fully automatic high-speed firefighting robot servo controller, it is characterized in that, described battery adopts lithium ion battery.

3. according to claim 1 six take turns double-core fully automatic high-speed firefighting robot servo controller, it is characterized in that, the first described control signal, the second control signal, the 3rd control signal, the 4th control signal, the 5th control signal, the 6th control signal, the 7th control signal and the 8th control signal are PWM wave control signal.

4. according to claim 1 six take turns double-core fully automatic high-speed firefighting robot servo controller, it is characterized in that, the inside of described processor 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 based on FPGA eight axle synchronized mixes servo control module, coordinate setting module, I/O control module and image capture module, wherein, described comprises six axle DC brushless motor firefighting robots search servo control module based on FPGA eight axle synchronized mixes servo control module, single axle vacuum sucker suction servo control module and flame snuffer single shaft lift servo control module.

5. according to claim 1 six take turns double-core fully automatic high-speed firefighting robot servo controller, it is characterized in that, described six take turns firefighting robot servo controller also comprises ultrasonic sensor, current sensor, photoelectric sensor, voltage sensor, acceierometer sensor, gyroscope and direction sensor, and described ultrasonic sensor, current sensor, photoelectric sensor, voltage sensor, acceierometer sensor, gyroscope and direction sensor are all connected with processor communication.

6. according to claim 5 six take turns double-core fully automatic high-speed firefighting robot servo controller, it is characterized in that, the quantity of described ultrasonic sensor is 6, the quantity of current sensor is 8, the quantity of photoelectric sensor, voltage sensor, acceierometer sensor, gyroscope and direction sensor is 1.

7. according to claim 1 six take turns double-core fully automatic high-speed firefighting robot servo controller, it is characterized in that, described six take turns firefighting robot servo controller also comprises photoelectric encoder, and described photoelectric encoder is arranged on DC brushless motor X, DC brushless motor Y, DC brushless motor Z, direct current generator M, DC brushless motor R, DC brushless motor U, DC brushless motor W and direct current generator E respectively.