基于Freescale微处理器的环境探测灭火机器人  

Environment Detection and Fire-fighting Robot Based on Freescale Microcontroller

作　　者：马忠丽[1] 李慧凤[1] 王德双 薛祖播[1] 王晓晖[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《化工自动化及仪表》2012年第3期373-376,391,共5页Control and Instruments in Chemical Industry

基　　金：2012国家自然科学基金(51109047);2011中央高校专项基金(HEUCF110435)

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。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.

关 键 词：飞思卡尔单片机 环境探测 灭火 自主避障 

分 类 号：TQ051.5[化学工程]