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本文以灭火机器人为研究对象,对该机器人的设计原理、主要思路以及实现方案做了详尽说明。灭火机器人要求能够在一间平面结构房子模型里运动,找到一根蜡烛并尽快将其熄灭。机器人主要由STM32F103微控制器、声音接收模块、火焰传感器模块、避障传感器模块、灭火模块、电机及电机驱动板组成,利用传感器组采集环境信号控制机器人的行动。机械结构为一个三轮小车,其中有两个较大的主动轮和一个较小的从动轮。两个主动轮所用的步进电机由TB6560电机驱动板控制带动。灭火算法由火焰传感器和避障传感器所感应到的信号判断运动方向和火焰位置,寻找到火源后利用风扇灭火。实验表明,该机器人行动灵活快速,具有很高的准确性和稳定性。
In this paper, fire extinguishing robot as the research object, the design principle of the robot, the main ideas and implementation of the program made an elaborate description. Extinguishing robots are required to be able to move in a flat-frame house model, find a candle and extinguish it as soon as possible. The robot is mainly composed of STM32F103 microcontroller, sound receiving module, flame sensor module, obstacle avoidance sensor module, fire extinguishing module, motor and motor driver board. The sensor group is used to collect environmental signals to control the robot’s operation. The mechanical structure is a three-wheeled trolley with two larger captive wheels and a smaller one. The stepping motor used by the two driving wheels is controlled by the TB6560 motor driving board. Fire extinguishing algorithm by the flame sensor and obstacle avoidance sensor sensed signal to determine the direction of movement and flame position, find the source of fire after the use of the fan to extinguish the fire. Experiments show that the robot is flexible and fast, with high accuracy and stability.