Six-wheel double-core high-speed fire-extinguishing robot servo controller

• Main Authors: ZHANG HAOMING, YANG RUIMIN
• Format: Patent
• Language: English
• Published: 11.11.2015
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention discloses a six-wheel double-core high-speed fire-extinguishing robot servo controller. A first motor, a second motor, a third motor, a fifth motor, a six motor and a seventh motor are all DC brushless motors. A fourth motor is a DC motor, and a processor is a double-core processor which comprises an STM32F407 and an FPGA, wherein the FPGA and the STM32F407 are in communication connection. Through the above mode, the invention provides a six-wheel double-core brand-new control mode based on the STM32F407 + FPGA. A control board takes the FPGA as the processing core, thereby achieving the real-time processing of a digital signal of seven-shaft hybrid servo control of a six-shaft DC brushless motor and a single-shaft DC motor. Through the introduction of the technology of vacuum absorption, a phenomenon that a fire-extinguishing robot slips during walking is completely eliminated, thereby effectively improving the precision of the fire-extinguishing robot in searching the position of a room.