| At present,the fire-fighting robots of our fire-fighting forces are basically the second generation,which have single function,low degree of automation and excessive dependence on manual control.Therefore an intelligent fire-fighting robot is designed.Based on the artificial remote control,the function of autonomous decision-making and automatic obstacle avoidance is added.In this design,STM32 is selected as the controller,and LAB VIEW software is used to develop the main interface of the upper computer.The communication and data transmission between the robot and the upper computer are realized by wireless data and image transmission module.A variety of sensors are selected to obtain environmental information and monitor the robot body,including gas sensor,temperature sensor,ultrasonic distance sensor,angle sensor,etc.Through multi-sensor information fusion technology and error compensation algorithm,the data are processed to get accurate measurement values.Fuzzy control algorithm and other control strategies are adopted to realize manual remote control and automatic mode.Based on the three PID control loops system,the motor driving algorithm of PWM precise pulse control is designed to control the rotation speed and angle of the mobile motor,so as to control the moving speed and position of the robot.Finally,parts of the robot are processed and assembled,and sensor test and robot movement test are completed.Experiments show that the robot works stably and can switch between two working ways,which has certain engineering significance. |
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