Design Of Fire Trunk Based On STM32

This paper focuses on the design of a fire truck that can be used to extinguish fires in nine small places.The truck can also be continuously monitored without supervision.Nine small places usually have weak safety consciousness,inadequate safety measures,a large area,and a large number of people,be closely related to people's daily lives,so there are serious hidden safety problems.Fire protection and monitoring are even more needed in nine small places.In this paper,the fire truck is designed to be used in conjunction with an improved fire smoke alarm.When the smoke alarm detects that the smoke concentration reaches a certain level,it will send a specific signal to the fire truck,and the truck will automatically go to the fire room to find the fire source and put out the fire.Based on the analysis of the design requirements,the functions of the fire truck to be developed are defined.The design of fire truck is divided into four parts:mechanical structure selection,sensor selection,hardware circuit design and program software design.This paper introduces the selection of the mechanical structure of the fire truck.The truck is driven by four wheels.and four motors are equipped with reducers and encoders.The truck uses Mecanum wheels.The bottom plate is made of aluminum alloy plate with suspension.The circuit modules,various sensors and small solenoid valve fire extinguishers are installed on the bottom plate.This paper introduces the selection of sensors,including MPU6050,HC-SR04,SG90 and YL-38This paper introduces the hardware circuit design of the car in detail,including the main control chip STM32F407 circuit design,various sensor operation circuit design,power module circuit design,drive circuit design,wireless communication module design and fire-fighting circuit design.The paper also introduces the software design of the truck in detail,including the underlying driver design and the upper algorithm design.The underlying driver design is to realize the normal operation of each bottom module and facilitate the call of the upper algorithm.The upper algorithm is to realize the control of the fire truck and the realization of the core functions,mainly including PID algorithm,Floyd automatic path finding algorithm,fuzzy control obstacle avoidance algorithm,etc.At the end of the thesis,the overall test situation of the fire truck is introduced.The running of the truck is stable and the predetermined function is basically realized,which provides a feasible solution for the fire robot.