Four-wheel double-core high speed fire extinguishing robot servo controller

Abstract

The invention discloses a four-wheel double-core high speed fire extinguishing robot servo controller, comprising a power supply device, an STM32F407 chip, an FPGA chip, a sensor assembly, a three-axis accelerator sensor, a gyroscope, a direction sensor and a motor assembly; the power supply device is electrically connected to the STM32F407 chip and the FGPA chip; and the STM32F407 chip is in communication connection with the FPGA chip and enables the FPGA chip. Through the above arrangement, the four-wheel double-core high speed fire extinguishing robot servo controller adopts the direction sensor, the gyroscope and the accelerator sensor to provide robot position in real-time, and provides the speed and the acceleration speed feedback to the controller. The vacuum suction technology based on the DC motor effectively solves the problems of slipping during walking. Furthermore, the invention is novel in structure, simple in control, stable in speed regulation, strong in interference resistance, high in stability and improves speed, saves space, and has wide market prospect in the popularization of the four-wheel double-core high-speed fire extinguishing robot servo controller.

Description

technical field [0001] The invention relates to the field of robot controllers, in particular to a 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 uncertain, variable, and...

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. Vibration is likely to occur 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 fire robot control system occupy a large space and relatively heavy 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 have poor anti-interference ability

[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 hard to control, especially worse for fast walking

[0017] (9) Due to the use of two power wheels to drive, in order to meet the acceleration and deceleration when quickly searching for fire sources, the power of a single drive motor is relatively large, which not only occupies a large space, but also sometimes in some places with relatively low energy requirements The phenomenon of "big horses and small carts" appears in the state, which is not conducive to the energy saving of the fire extinguishing robot system

[0018] (10) For fire-fighting robots based on single-core control, especially for multi-wheel fire-fighting robots, due to the large number of algorithms processed by the processor, the calculation speed is not very fast, which is not conducive to high-speed operation

[0019] (11) Under some conditions, in order to increase the operation speed, a dedicated motion chip is introduced into the single-core controller to process part of the servo control algorithm, but affected by the ability of the dedicated chip itself, although the operation speed has been improved to a certain extent, it is not very ideal

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