智能侦查灭火机器人  

Intelligent Detection of Fire-fighting Robot

作　　者：程鹤鸣[1] 龙飞[1] 任才[1] 王国文[1] 吴敬兵[1] 

机构地区：[1]武汉理工大学机电工程学院,湖北武汉430070

出　　处：《控制工程》2009年第S4期116-121,共6页Control Engineering of China

摘　　要：以遥控电动小车为研究对象,基于三菱FX2N系列PLC,建立智能侦查灭火机器人模型,对控制系统进行优化,使灭火机器人的各模块之间能够平滑、稳定地协同工作。采用L298芯片分别控制2台电机,通过不同的转速实现机器人的灵活转向,并利用PLC产生不同占空比的PWM波实现机器人的无级变速,确保机器人平稳运行。同时,利用编码器检测电机转速并将信息反馈给PLC构成闭环控制,从而实现机器人行走路线的精确控制与调整。智能侦查灭火机器人的火焰、避障以及行走模块协同工作,使其能够更快速、安全地发现并到达火源,实现灭火。Taking electric remote control car as the research object,based on Mitsubishi FX2N-PLC,the intelligent detection fire-fighting robot control model is established and control system is optimized.The robot fire-fighting among the various modules can be smooth and stable work together.L298 chips are used to control two motors running,through different speed flexible robot turn and take advantage of PLC have different duty cycle of the PWM wave robot's continuously variable to ensure the smooth operation of robots.Meanwhile,the detection of motor speed using encoder feedback to the PLC will constitute a closed-loop control to achieve precise control and adjustment of robots routes.Each module intelligent detection fire-fighting robot can work together more quickly and safely to find and reach the fire source and fight it.

关 键 词：智能侦查灭火机器人 PLC L298芯片 智能侦查 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]