一种智能竞技灭火机器人的设计方法  

Design Method of Intelligent Competitive Fire-Fighting Robot

作　　者：陆欢[1] 柏硌 徐长英[3] 唐宝芳 黄公权 

机构地区：[1]南昌航空大学信息工程学院 [2]南昌航空大学航空制造学院 [3]南昌航空大学工程训练中心

出　　处：《科技广场》2015年第4期245-252,共8页Science Mosaic

摘　　要：在火灾环境中,智能机器人能否快速准确的灭火,是整个灭火事件的关键。针对这一问题,本文设计了一款基于国际赛制的智能灭火机器人,采用AS-MF10内核为32位的ARM Cortex TM-M3控制器,设计多个硬件和软件功能模块,运用经典的PID算法和加权控制算法的互补性,进行机器人姿态纠正,能有效避免过冲及沿墙行走出现S轨迹等一系列缺陷,利用此控制器系统的快速和稳定性,设计了多种关键策略,实现相应的灭火功能。整个系统在实际的运用中效果良好,实现了快速找到火源并将其熄灭的效果,有效提高了灭火效率,降低火灾带来的损失,增强了人们生活和生产的安全性。The key of fire extinguishment is whether the fire fighting robot can extinguish the fire fast and accurately in the fire environment. Facing this problem, this paper designs an intelligent fire fighting robot based on international competition, which applies the key controller of AS-MF10 of 32 bit ARM Cortex TM-M3 kernel. The paper designs multiple hardware and software function modules, and applies the traditional PID algorithm and the weighted control algorithm to correct the posture of robot. It can effectively avoid a serious defect of overshooting and having 'S' tract while running alone the wall. The paper designs multiple key strategies to make use of the quickness and accurateness of the control system to realize fire extinguishment function. The whole system obtains good result in the practical application. It can find the fire resource and extinguish it fast, which improves the effectiveness of fire extinguishment, reduces the loses of the fire and improves the security of people's life.

关 键 词：智能化 灭火机器人 ARM CORTEX TM-M3控制器 PID 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]