| 基于Freescale微处理器的环境探测灭火机器人 |
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| 引用本文： | 马忠丽,李慧凤,王德双,薛祖播,王晓晖. 基于Freescale微处理器的环境探测灭火机器人[J]. 化工自动化及仪表, 2012, 39(3): 373-376,391 |
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| 作者姓名： | 马忠丽 李慧凤 王德双 薛祖播 王晓晖 |
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| 作者单位： | 哈尔滨工程大学自动化学院,哈尔滨,150001 |
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| 基金项目： | 2012国家自然科学基金，2011中央高校专项基金 |
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| 摘 要： | 采用飞思卡尔16位微控制器MC9S12DG128单片机作为主控制器,利用其高效快速的数据采集和处理功能,设计了一款具有自主避障、环境气体检测、现场图像采集、火焰检测、生命探测和数据无线通讯功能的地面环境探测灭火机器人。给出硬件设计原理和软件算法设计关键技术。试验测试表明,设计的机器人性能稳定、数据准确、传输快速、图像清晰且小巧灵活,具有在复杂环境中自主执行探测任务的实际应用价值。
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| 关 键 词： | 飞思卡尔单片机 环境探测 灭火 自主避障 |
Environment Detection and Fire-fighting Robot Based on Freescale Microcontroller |
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| MA Zhong-li , LI Hui-feng , WANG De-shuang , XUE Zu-bo , WANG Xiao-hui. Environment Detection and Fire-fighting Robot Based on Freescale Microcontroller[J]. Control and Instruments In Chemical Industry, 2012, 39(3): 373-376,391 |
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| Authors: | MA Zhong-li LI Hui-feng WANG De-shuang XUE Zu-bo WANG Xiao-hui |
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| Affiliation: | ( College of Automation,Harbin Engineering University, Haerbin 150001, China) |
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| Abstract: | Taking 16-bit microcontroller-cored MC9S12DG128 SCM as main controller, and using its efficient and quick data collection and processing functions, a ground environment detection and fire-fighting robot was designed , which boasts independent obstacle avoidance , environment gas detection , image acquisition , fire detection, life detection and data wireless communications capabilities; the hardware design theory and software algorithm process were given. Experimental testing shows that the designed robot can independently eomplete any detection task in complex environments. |
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| Keywords: | Freescale MCU environment detection fire-fighting independent obstacle avoidance |
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