消防机器人行走控制系统的设计与实现

Design and Implementation of Walking Control System for Fire Fighting Robot

摘要:

近年来火灾事故频发,消防人员的安全问题无法保证,“机器换人”这一理念是处置火灾救援的一个重要手段和发展趋势,消防机器人的研发在有效救援的基础上能保护消防人员的安全；针对火灾现场的环境复杂性,设计了消防机器人的行走控制方案,通过设计电机驱动系统的硬件电路与针对行走控制系统进行MATLAB模拟仿真,实现并优化了消防机器人的越障及转弯功能；主要对电机驱动部分及整个系统软件流程进行设计；通过测试,验证了行走控制方案的可靠性。

Abstract:

Fire accidents occurred frequently in recent years.,Fire safety problems can not be guaranteed. “Machine substitution”, this concept is an important means of disposal of fire rescue and development trend, the fire fighting robot research and development on the basis of effective relief to the safety of fire protection personnel. Aiming at the scene of the fire of the complexity of the environment,The hardware circuit of the motor drive system is designed and the MATLAB simulation is carried out for the walking control system. Implementation and optimization of the fire fighting robot obstacle avoidance and turning function. The main part of the motor drive and the whole system software design process. Through the test, to verify the reliability of the control scheme of walking.