Development And Implementation Of Motion Control System For Fire Fighting Robot

The fire spread quickly,the fire site environment is complex,the fire site information is missing,the scene implementation fire-fighting operation is difficult,has caused the most direct threat to the life and safety of firefighters.The fire-fighting robot can not only put out the fire effectively and finish rescue and relief work efficiently,but also fully guarantee the life safety of firefighters.But today.The price of fire-fighting robot is expensive and there are few practical application occasions.The development of a small fire-fighting robot based on a miniature fire station can take advantage of the golden time of fire-fighting to reduce the possibility of small fire becoming large fire,and greatly improve the utilization rate and penetration rate of fire-fighting robot.The fire-fighting robot based on the two-wheel self-balancing scheme can save design space,overcome the disadvantages of the multi-wheel system structure,reduce the mechanical cost,small turning radius,can achieve in-situ turning,high flexibility,fast driving speed,so that it can be applied to the small area of complex occasions fire-fighting.The research and development of the corresponding motion control system can improve the fire-fighting efficiency of the fire-fighting robot,enhance the reliability and stability of the system,reduce the cost,and have a good theoretical significance and application valueBased on the analysis and reference to the research status of fire-fighting robot at home and abroad,this thesis designed and developed a motion control system based on two-wheel self-balancing fire-fighting robot.The main research work and results are as follows:1.According to the specific functional requirements and performance requirements of the control system,the system architecture of the fire-fighting robot with STM32F103VCT6 microcontroller as the main chip was designed,the overall control scheme of the control system was introduced in detail,and the hardware circuit of each functional module was designed and completed.2.The advantages of the fuzzy PID algorithm over the traditional PID algorithm were analyzed,and according to the characteristics of the two-wheel self-balancing movement of the fire-fighting robot,the fuzzy PID algorithm was adopted to adjust the control parameters in real time.Finally,a control scheme was designed when the inclination Angle exceeds the stable controllable Angle.3.Realized the writing of the software of the motion control system of the fire-fighting robot,mainly including the design of the main program,the initialization of the system,the motion control function mainly including the balance control function,obstacle avoidance function,remote control function,fire source identification function,fire source tracking function,and so on,and finally carried out a complete workflow test of the system.Finally,the research work of this thesis is summarized,the advantages and disadvantages of the control system are analyzed,and the future improvement direction of the motion controller of the fire-fighting robot is forecasted.