消防偵察機器人控制系統(tǒng)研究與實現(xiàn).pdf

1、獨創(chuàng)性聲明本人聲明所呈的學位論文是本人在導師指導下進行的研究工作及取得的研究成果。據(jù)我所知，除了文中特別加以標注和致謝的地方外，論文中不包含其他人已經(jīng)發(fā)表或撰寫過的研究成果，也不包含為獲得安徽農(nóng)業(yè)大學或其他教育機構的學位或證書而使用過的材料。與我一同工作的同志對本研究所做的任何貢獻均已在論文中作了明確的說明并表示謝意。學位論文作者簽名：二氯籃簽字日期：zof5年6月牛日學位論文版權使用授權書本學位論文作者完全了解安徽農(nóng)業(yè)大學有關保留、使

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3、i盜睦么藕話：Q垃i=66(2二8腳通信地址：倉她紐逄超盎駐E乏金盤郵編：———疊＆缸l上——一AbstractCityBuildingsgraduallyincreasedandthepopulationdensityisgrowingwiththerapiddevelopmentofthenationaleconomyFiresandaccidentscausedbyfiredangerousplacesalsowillcontin

4、uetooccurwhichcausedhugelossedtothelifeandpropertyofthepeopleMeanwhile，therealemanydrawbackswhenfirefightersrescueTherefore，researchinganddesigningapraticalfirerobotwhichCansubstitueforfirefighterstoenterthedangerousenvi

5、ronmentsisveryimportantandnecessaryFirerobotCanprotectpersonalsafetyoffirefighters，helpfirefighterstounderstandthesitumionandmakeabetterfirecontrolstrategyThispaperdescribesthebackgroundandsignificanceofthefirereconnaiss

6、ancerobotresearchItalsodescribesdomestcandforeignresearchstatusanddevelopmentdereetionofthefirereconnaissanceroboLThispaperdesignedafull—featured，reliablefiredetectionrobotconrolsystemandbuiltaprototyperobotthemainresear

7、charcasfollows：1。Robotcontrolsystemdesignanditsmechanicalstructureiscloselylinked，SOthispaperwillfirstanalysistheadvantagesanddisadvantagesoftheseveralcommonmobilerobotplatformsThispaperchosedifferentialwheelsteeringmech

8、anismasthemobilerobotplatformsanddoitskinematicanalaysisbecausedifferentialwheelsteeringstructureisflexible，lowcostandconvenienttealize2Thispartwillanalysistheneedsofthefirereconnaissancerobotandliststhefunctionwhichther

9、obottoachieveandperformanceindicatorsthispaperwilldesigntheoverallcontrolsystemplanwiththecoleofSTM32microeontroller3ThispartwilldesignthehardwarecircuitoffirereconnaissancerobotcontrolsystemThehardwarecircuitmainlyinclu

10、destheSTM32processormodule，wirelessremotecontrolmodule，imageacquisitionandtransmissionmodule，harmfulgasdewionmodule，temperaturedetectionmodule4ThispaperadoptemodularprogrammingideastocompeltetheprogramcodedevelopmentbyKe

11、ilMDKwhichisasoRwareintegrateddevelopmentenvironmentInaddition，thispaperwillmodifyoptimizationaccordingtothetestresult5Thispartwillsetuptheexperimentalplatformandtesttheperformanceoftherobottoverifythefeasibilityoffirere