SRT项目技术报告.PDFVIP

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2017-05-16 发布于湖北
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SRT项目技术报告.PDF

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SRT项目技术报告

SRT 项目技术报告题目：基于PSoC 的智能家居机器人的设计开发项目负责人：自64 班李潇涵项目小组成员：自64 班李潇涵、白云飞、赵昊煜自66 班张润伟所属单位：清华大学自动化系指导教师：清华大学自动化系叶朝辉 2009 年12 月6 日 1 / 17 目录一. 项目背景 ·······························································3 二. 设计 ···································································3 1. 功能设计······················································3 2. 系统设计······················································4 2.1 PSoC 29466 ················································4 2.2 系统整体设计···············································4 三. 开发 ···································································5 1. 运动控制系统 ··················································5 1.1 自动跟随···················································6 1.1.1 定位方式比较与选择···································6 1.1.2 定位信号比较与选择···································6 1.1.3 发射阵列·············································7 1.1.4接收阵列 ·············································7 1.1.5避障 ·················································8 1.1.6 自动跟随策略·········································8 1.1.7机器人的行进 ·········································8 1.2 人机交互 ···················································9 1.2.1振动检测 ·············································9 1.2.2 动作响应············································10 1.3 自动巡逻··················································10 2. 火灾检测系统 ·················································11 2.1 温度检测 ··················································11 2.2 可燃性气体检测············································11 2.3 短信报警 ·······································