毕业设计（论文）-单片机灭火机器人红外定位算法.doc

灭火机器人 （西南林学院 计算机与信息科学系，云南 昆明 650224） 摘 要：随着社会的进步，机器人技术的不断发展使得机器人的应用领域不断扩展，从以往多应用于工业领域而渐渐融入人们的生活。消防机器人作为消防部队中的新兴力量，加入了抢险救灾的行列。而为了更好的为生产生活服务，灭火机器人技术的优化势在必行。 本文讲述了灭火机器人的火源定位部分，该部分包括三模块，一为由八个传感器组成的传感器组，即温度测量模块；二为A/D转换部分，即把传感器测得的模拟信号转换为可输入单片机的数字信号；三为单片机部分，该部分对输入信号进行处理，并作出相应的控制。火源定位是根据自由空间的能量损耗公式由测得温度推算出来的。这在以前的灭火机器人系统中从未用到过，也是本文的创新点。 关键词：灭火机器人 ，机器人， 单片机， 红外传感器 Extinguish fire robot Tianfeng Gao (Dept. of Computer and Information Science, Southwest Forestry College, Kunming, Yunnan, 650224, China Abstract: Along with the progress of the society, the development of robot technique make applied realm of the robot expand continuously, from the industry realm which was much applied in to melt into the peoples life gradually. The fire-fight robot, which is the new power within the fire fight troops, join to rob the insurance relief. And for the sake of being better in the service of life, the optimization of the fire-fight robot technical is imperative. This thesis relates to the fire source allocation part of the fire-fight robot. That part includes three modules, the first is the sensor group being made of eight sensors, which call the temperature measurement module; the second is the part for the A/D, which transform analog signal measured by sensors into digit signal being inputted into MCU; the third is a part of MCU, which process inputting signal and make relevant control. The fire source allocation is computed with measured temperature according to the energy loss formula of the free space. It has never used in the fire-fight robot system before, also the new ideas. Key words: extinguishing robot, robot, Single Chip Micro Computer, infrared transducer 目 录 TOC \o 1-1 \h \z \t !论文2级标题（Ctrl+2）,2,!论文3级标题（Ctrl+3）,3 HYPERLINK \l _Toc169610273 1 前言 PAGEREF _Toc169610273 \h 1 HYPERLINK \l _Toc169610274 2 概述 PAGEREF _Toc169610274 \h 3 HYPERLINK \l _Toc169610275 3 系统总体方案 PAGEREF _Toc169610275 \h 5 HYPERLINK \l _Toc169610276 3.1 系统方案设计的概述和设计步骤 PAGEREF _Toc169610