【正文】 功能，還能完成各種動(dòng)作，它還有一個(gè)特點(diǎn)是根據(jù)人的編程能自動(dòng)的工作，這里一個(gè)顯著的特點(diǎn)，就是它可以編程，改變它的工作、動(dòng)作、工作的對(duì)象，和工作的一些要求，它是人造的機(jī)器或機(jī)械電子裝置。機(jī)器人技術(shù)的發(fā)展，它應(yīng)該說(shuō)是一個(gè)科學(xué)技術(shù)發(fā)展共同的一個(gè)綜合性的結(jié)果，也同時(shí)，為社會(huì)經(jīng)濟(jì)發(fā)展產(chǎn)生了一個(gè)重大影響的一門(mén)科學(xué)技術(shù)，它的發(fā)展歸功于在第二次世界大戰(zhàn)中，各國(guó)加強(qiáng)了經(jīng)濟(jì)的投入，就加強(qiáng)了本國(guó)的經(jīng)濟(jì)的發(fā)展。 the second is the part for the A/D, which transform analog signal measured by sensors into digit signal being inputted into MCU。 關(guān)鍵詞： 滅火機(jī)器人 ， 機(jī)器人 ， 單片機(jī) ， 紅外傳感器 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 people39。 火源定位是根據(jù)自由空間的能量損耗公式由測(cè)得溫度推算出來(lái)的。 而為了更好的為生產(chǎn)生活服務(wù)，滅火機(jī)器人技術(shù)的優(yōu)化勢(shì)在必行 。滅火機(jī)器人 （西南林學(xué)院 計(jì)算機(jī)與信息科學(xué)系，云南 昆明 650224） 摘 要： 隨著社會(huì)的進(jìn)步， 機(jī)器人技術(shù)的不斷發(fā)展使得機(jī)器人的應(yīng)用領(lǐng)域不斷擴(kuò)展，從以往多應(yīng)用于工業(yè)領(lǐng)域而漸漸融入人們的生活。消防機(jī)器人作為消防部隊(duì)中的新興力量，加入了搶險(xiǎn)救災(zāi)的行列。 本 文講述了滅火機(jī)器人的火源定位部分， 該部分包括三模塊，一為由八個(gè)傳感器組成的傳感器組，即溫度測(cè)量模塊；二為 A/D 轉(zhuǎn)換部分，即把傳感器測(cè)得的模擬信號(hào)轉(zhuǎn)換為可輸入單片機(jī)的數(shù)字信號(hào)；三為單片機(jī)部分，該部分 對(duì)輸入信號(hào)進(jìn)行處 理 ，并作出相應(yīng)的控制。 這在以前的滅火機(jī)器人系統(tǒng)中從未用到過(guò)，也是本文的創(chuàng)新點(diǎn)。s life gradually. The firefight 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 firefight robot technical is imperative. This thesis relates to the fire source allocation part of the firefight robot. That part includes three modules, the first is the sensor group being made of eight sensors, which call the temperature measurement module。 the third is a part of MCU, which process inputting signal and make relevant control. The fire source allocation is puted with measured temperature according to the energy loss formula of the free space. It has never used in the firefight robot system before, also the new ideas. Key words: extinguishing robot, robot, Single Chip Micro Computer, infrared transducer 目 錄 1 前言 ................................................................................................................................ 1 2 概述 ................................................................................................................................ 3 3 系統(tǒng)總體方案 ................................................................................................................ 5 系統(tǒng)方案設(shè)計(jì)的概述和設(shè)計(jì)步驟 ...................................................................... 5 系統(tǒng)總體方案的設(shè)計(jì) ............................................................................... 5 系統(tǒng)的硬件設(shè)計(jì) ....................................................................................... 5 系統(tǒng)的軟件設(shè)計(jì) ....................................................................................... 6 系統(tǒng)功能的實(shí)現(xiàn) .................................................................................................. 6 系統(tǒng)方案設(shè)計(jì)中考慮的綜合因素 ...................................................................... 6 4 實(shí)驗(yàn)系統(tǒng)的硬件設(shè)計(jì) .................................................................................................... 8 硬件器件的選擇 .................................................................................................. 8 AT89C51.................................................................................................... 8 ADC0809 ................................................................................................. 11 傳感器 ..................................................................................................... 12 硬件電路的實(shí)現(xiàn) ................................................................................................ 13 信號(hào)采集部分 ......................................................................................... 13 信號(hào)的模數(shù)轉(zhuǎn)換部分 ............................................................................. 14 5 紅外定位的算法設(shè)計(jì) .................................................................................................. 17 6 總結(jié) .............................................................................................................................. 22 參考文