Double-core servo control system based on two wheel intermediate speed automatic fire extinguishing robot

Abstract

The invention discloses a double-core servo control system based on a two wheel intermediate speed automatic fire extinguishing robot, comprising a microprocessor unit, a detection sensor unit, a three-axis acceleration sensor, a gyroscope, a vacuum suction unit, a fire source collection unit and a control motor; the micro-processing unit comprises a main control chip and an STM32 controller; the control motor comprises a micro-DC-motor, an elevation DC motor, a first motor and a second motor; the micro-DC-motor is connected to the vacuum suction unit; and the elevation DC motor is connected to a fire extinguishing device. Through above arrangement, the double-core servo control system based on the two-wheel intermediate speed automatic fire extinguishing robot improves the flexibility and accuracy of the fire-extinguishing robot, and improves the operation system. Besides, an absorption unit based on the micro-DC-motor can resist skid, which can guarantee the stability and reliability of the servo control system of the fire extinguishing robot.

Description

technical field [0001] The invention relates to the field of multi-axis robots, in particular to a dual-core servo control system based on a two-wheel medium-speed automatic fire-fighting robot. 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 i...

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] (4) 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] (5) Due to the use of stepping motors, the motor body is generally a multi-phase structure, and the control circuit needs to use multiple power tubes, which makes the control circuit relatively complicated and increases the price of the controller.

[0013] (6) 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

[0016] (11) 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

[0017] (12) 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

[0018] (13) 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

[0019] (14) 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 fire source in reality, but the nozzle height of the dry ice fire extinguisher carried by the general fire extinguishing robot is fixed, so that it cannot Effective in extinguishing fire sources

[0020] (15) 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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