Research On Wireless Remote Control System Of Fire-fighting Robot

The fire-fighting robot belongs to the special kind robot category. Theyare the special kind fire-fighting equipments and can substitute the firemanto near to the fire field in order to implement the rescue homeworkeffectively to extinguish fire, and develop the various missions which probethe development of the fire field. Particularly in the big risk or notcome-at-able situation of fireman, the application of the fire-fighting robot willimprove the ability that the fire fight section puts out the malignant fireconsumedly.With the high speed development of our country economy, thepetroleum chemical engineering profession in our country is gaining in fast,therefore, the easy burning and the easy exploding chemistry product withinproduction line brings deadly poison easily. Because of the reasons of theequipments and management etc., the accidents which the chemistrydangerous goods and the radio materials leak, burn and explode areincreasing more and more. Therefore, the problem which researches thefire-fighting section to equip the fire-fighting robot in our country is veryurgent, but the research that take a wide view the local fire-fighting robot,particularly the research at the lead-in controls from a distance thetechnique aspect, which we exist the very big margin with abroad still.Currently the system delivering the local lead-in data in the aspect ofdelivering the distance and the credibility, baud rate, the anti-interferenceability etc. exists the very big shortage still, and guarantee difficultly thesteady and dependable work under the bad environment of the interferenceseverity, at the same time, also competes very difficultly with the same kindof the product in the foreign. From setting out physically, passing thecomprehensive analysis to the function and index sign of the fire-fightingrobot, the paper put forward the intact design project, increasederror-correcting in remote control and correspondence system, raise theanti-interference ability of the correspondence system, and passing toadjust the experiments, the paper makes the design project get theverification and meet the design request. The fire-fighting robot that thistopic designs can satisfy the demand of the fire-fighting section to equip firefight robot, and has the very strong market competition ability, and cansatisfy many demands to extinguish fire in various fire fields, reduce theoccurrence of the dead and injured trouble to the fire fight warrior inextinguishing fire fight, at the same time lower the cost to extinguish fire,also can raise the national product of the fire-fighting robot, so this articlecontains the important actuality and theories meanings.Currently the technique which the wireless remote controls apply on thefire-fighting robot will be an important act which raise the ability of its longrange control, also will be a hot bit of developing quickly in the future.According to the research actuality of wireless remote controls field in thedomestic and international fire-fighting robot, this text combines the functionand the index sign of the fire-fighting robot which the Heng Anne electronicsmachine limited company in Jilin province cooperate to develop" the firefight robot" item, and puts forward the design project of the remote controlsystem of the fire-fighting robot. And according to the design project of thefire-fighting robot remote control system, this article analyzes its principleand design the experiment electric circuit to shoot the unit and receive theunit hardware. This text make use of the safe and dependable method ofenhancing remote control instruction receive and dispatch in order to carryon the research, and use the appropriate technique on error-correctingcoding, so that the anti-interference ability of the data instruction iselevated.The fire-fighting robot works in the dangerous environment, so themistake coding rate of correspondence letter way is higher. So this selectedworks is before choose toward the wrong( FEC) mistake control method, inorder to reduce postponement and raise the credibility of its datacorrespondence. Because the coding mode of the front cavil( FEC) need notcarry the feedback information towards the blast-off end, the postponementof receiving the signal is small and solid hour is good. For the remote controlsystem of the fire-fighting robot, general the valid correspondence distanceof principal and subordinate end designs inside several 100 meters, thedistance which it takes up the short-wave letter way is short, the probabilitywhich the data occur mistake has the random.This text combines theories and practice, aiming at a single slice of thefire fight robot MCS-51 machine system, its data format is 8 bits, limitting themedium information to take a value thus, the action instruction coding iscoded composing by four binary systems, so be divided into the information4 set(n ,k ), recordfor m = ( m 4 , m 3 , m 2 , m1), choose line a set code for cent,the hanming code, BCH code three kinds of coding methods carry on themistake reason to the remote control data instruction.The line cent set code is the line cent set that rectifies single mistakecode, this text expands the hanming code,the hanming code, inspecting itthe matrix correction is:0 1 1 1 1 0 0 01 0 1 1 0 1 0 01 1 0 1 0 0 1 01 1 1 0 0 0 0 1H?? ?= ?? ???? ??Make use of direct matrix of revise the empress, beg born matrix to carry onthe mistake reason to the original instruction coding.Circulating code is the line cent set code in the most important of onestatures, but the BCH code is circulating statures of the code, its the wrongability is strong, in the short code longly with etc. the code is long under, itsfunction is near to in theories to be worth very much, and constructsconvenience, coding in brief.Especially it has strict algebra structure, sohave already emphasized to want a function in the coding the theories.Thisselected works uses BCH code to control from a distance the systeminstruction to carry on wrong coding of to the fire fight robot, that code'sdescend clear distance of hanming D =3;Wrong ability t=1, can discover 2is a mistake or rectify a mistake;Code the efficiency R=k/n=4/7=0.57.The code of the instruction information m ( x ) from born2g ( x ) = gn ?kx n ?k+?????? g2 x + g1 x + g0information set m ( x )= m 3 m 2 m 1 m0 left shift three become x 3 m ( x )Use the born polynomial g ( x ) = 0BHgo to the mold 2 in addition to withx 3 m ( x ) get the remainder r ( x )/ g ( x ),this remainder with x 3 m ( x )mold2 add up, namely ,getting seven code words C ( x ),pass this method then tocontrol from a distance the instruction to carry on the coding of BCH(7,4)The fire-fighting robot controls from a distance the system to adjust totry the experiment, passing under the condition to the remote control the softhardware of system adjusts to try, verifying the fire-fighting robot theremote control the system hardware the design meet the request, theexamination of the wrong coding function, lead into the interference carry on,after passing the test the manifestation of the data,the instruction codes andcan deliver accurately, raising the accuracy and credibilities that data deliver,passing to experiment the enunciation, carrying out various functionsrequest and the parameter index sign that the fire fight robot need whenworks, can satisfy the fire fight robot work demand.With the correspondence technique developing soon, control from adistance for the fire fight robot the system data delivers the process in ofdependable request is also more and more high. Because the wrong codingcan raise the credibility that the numeral deliver, as a result from appear hadbeen be subjected to till science and technology personnel's widespreadconcern.In recent years, with the continuously raise of the wrong codingtheories, many coding techniques with wrong practical one after anotherproduce.Can anticipate, in the future information ages, the wrong codingtechnique will get the more extensive application necessarily in thefire-fighting robot realm.