Research On Control System Of High Building Fire-fighting Robot

In this paper, a high building fire-fighting robot is introduced. Suspended equipment is adopted in this scheme that shapes a triangle by two wire ropes. The limitless climbing instrument of the robot replaces the traditional power supply. With the control system and motor, the robot can move in the vertical 2-dimension space freely.Considering the high reliability and easy programming of PLC, in this robot, an OMRON CPM1A PLC is adopted as the main controller. For the cooperation of robot execution instrument under the control command, it is indispensable that the signal between the IPC, hand controller and PLC is communicated. Due to the high building fire circumstances, the data and command signal transmission is carried out by the wireless radio station. According to the Hostlink protocol, the hand controller based on AT89C51 is developed.To solve the problem of speed control in the process of robot climbing, based on the fuzzy control theory, each section of the robot is analyzed and the mathematical model is constructed. Simulation proves that the response time is short and the control system is robust. Applying hybrid program technology, the control software was developed by integrating fuzzy control tools, Kingview6.02 and VisualBasic6.0. Characterized by good human-computer interaction, easy application and good practicability, the software can complete image transformation, complex calculation, long-distance control, and so on.This paper firstly introduces the hardware construction and communication method, then the fuzzy control model is constructed and applied in the control software, Experiments results show that the control system is reliable and can satisfy the demands of fire-fighting completely.