Fully automatic four-wheel two-core high speed fire extinguishing robot servo controller

Abstract

The present invention discloses a fully automatic four-wheel two-core high speed fire extinguishing robot servo controller which comprises a power supply device, an STM32F407 chip, an FPGA chip, a sensing module, an image acquisition module, a three-axis accelerometer sensor, a gyroscope, a direction sensor and a motor assembly. The power supply device is electrically connected to the STM32F407 chip and the FPGA chip. The STM32F407 chip is in communication connection with the FPGA chip and enables the FPGA chip. Through the above mode, the fully automatic four-wheel two-core high speed fire extinguishing robot servo controller is formed through the STM32F407 chip and the FPGA chip and has certain adsorption ability to the ground through a vacuum suction device, the walking skid of a fire extinguishing robot is solve thoroughly, the fully automatic four-wheel low speed fire extinguishing robot servo controller has the advantages of novel structure, simple control, faster speed, space saving, steady speed regulation, strong anti-interference ability and high stability, and the popularity of the controller has a broad market prospect.

Description

technical field [0001] The invention relates to the field of robot controllers, in particular to a fully automatic four-wheel dual-core high-speed fire-fighting robot servo controller. Background technique [0002] The fire extinguishing robot is a new type of intelligent robot that simulates the human beings who find harmful fire sources in real life and can automatically extinguish the fire sources. Under normal circumstances, the competition-type fire-fighting robot can move in a house model with a planar structure, find a candle representing the fire source in the shortest time under the guidance of operating rules, and extinguish it. Simulate the process of a robot handling a fire alarm in a real home. The candles represent a fire burning in the home, which the robot must find and extinguish. The bottom of the candle flame will be 15-20 cm above the ground. The candle is a white candle with a diameter of 1-2cm. The exact height and size of a candle flame is uncertai...

AI Technical Summary

Problems solved by technology

[0009] (1) Most of the actuators of the fire-fighting robot are stepping motors, which often encounter the phenomenon of motor out-of-step caused by missing pulses, resulting in errors in the memory of the position, and the fire-fighting robot cannot find the fire source, or after the fire is extinguished The robot cannot return to the starting point,

[0010] (2) Due to the use of stepping motors, the body heats up more seriously, and sometimes it is necessary to install a cooling device, which increases the overall weight of the robot.

[0011] (3) Due to the use of stepping motors, the mechanical noise of the system operation is greatly increased, which is not conducive to environmental protection.

[0012] (4) Due to the use of stepping motors, the system is generally not suitable for running at high speeds. It is prone to vibration during high-speed motion, and sometimes it may touch the wall, resulting in failure to find the fire source.

[0013] (5) Due to the frequent braking and starting of the fire-fighting robot, the workload of the single-chip microcomputer is increased, and a single single-chip microcomputer cannot meet the requirements of fast start and stop of the fire-fighting robot.

[0014] (6) Some relatively large plug-in components are used relatively, which makes the control system of the fire-fighting robot take up a large space and relatively heavy in weight.

[0015] (7) Due to the interference of unstable factors in the surrounding environment, the single-chip controller often has abnormalities, causing the fire-fighting robot to lose control, and the anti-interference ability is poor.

[0016] (8) For the two-wheeled fire-fighting robot to find the fire source, it is generally required that the PWM control signals of the two motors must be synchronized. Due to the limitation of the computing power of the single-chip computer, it is difficult for a single-chip servo system to meet this condition, making the fire-fighting robot Walking navigation is difficult to control, especially worse for fast walking,

[0017] (9) In the actual fire extinguishing process, the fire source may not be in the center of the room grid, resulting in an angle between the walking direction of the fire extinguishing robot and the fire source, resulting in the consumption of a large amount of dry ice for fire extinguishing, and sometimes it may not be possible to extinguish the fire source,

[0018] (10) In the actual fire extinguishing process, the height of the candle is also changing due to the burning of the candle, which is very similar to the real fire source. However, the nozzle height of the dry ice fire extinguisher carried by the general fire extinguishing robot is fixed, so that it cannot Effectively extinguish the fire source,

[0019] (11) During the actual fire extinguishing process, ordinary light source detection sensors may receive interference from external light sources, resulting in failure of fire extinguishing search and failure to complete the task

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