| Robot is a typical product of integration of mechanical and electrical industry, which has employed the latest achievements in many other subjects. Recently many levels of robot competition have been held across the country, which has helped to improve students'creativity and to promote the reform of university practical teaching and which has also provided a novel platform for creativity character education.The designing, making, programming and debugging in the robot competition are involved in many fields such as artificial intelligence, digital image processing technique, communication technique, sensor application, mechanical drive and auto-control. With the increasing of competition requirements, only the according increasing of resolution, speed and intelligence can ensure the success in the competitions. And this will promote the development of sensor technique, motion control technique, micro-processor technique and artificial sensor. That's the very value of holding robot competitions and researching robot-making techniques.In the process of designing and making of fire-fighting robots, it is primary to choose a suitable main controller which needs a good orientation project. The main controller should have enough input interfaces for the sensor and in the meantime it should also have enough output interfaces for controlling the peripherals. Speed is most important for fire-fighting robots and high speed should depend on the CPU which must has powerful calculation competence in floating point numbers. Most of the present fire-fighting robots are controlled by microprocessors which have very slow calculation speeds and less interfaces and this has greatly affected the function of them. In order to improve the function of fire-fighting robots, it has been agreed that the main controller should use ARM-based 32 bit microprocessor or AVR microprocessor. Our design tries to employ 32 bit microprocessor LPC2148 which is based on ARM as the main controller.Fire-fighting robots consist of the following parts: control boards, sensors, execution devices and fire-fighting devices. The thesis tries to solve the problems in fire-fighting robots design. First we try to design the circuit of control boards and meantime design power supply circuit, sensor circuit and robots parts. Then, based on the designing of the circuits, we try to develop software which mainly includes the system general module, fire-fighting module, and other modules. In this part we also introduce the ways to design bottom dive program, system general program, fire-fighting program and other programs. Finally we introduce the ways to design PID motion control calculation and software filter calculation. |
