毕业设计救援机器人中文翻译
救援机器人——我想发明的机器人_小学五六年级想象
救援机器人——我想发明的机器人
救援机器人
我要发明一个救援机器人，它有一双鹰一样的眼睛，左边是手，右边是电钻，电钻可以钻开坚硬的地面，左手可以用来救援被困者。
它可以通过那尖锐的眼睛用红热感应器来寻找废墟中的人，找到后就用右手的电钻把废墟的大砖块钻开，从而救出被困者。
而且它可以进入到人类不能到达的事故现场搜救被困人员，这样可以大大减少人员伤亡。
我的救援机器人终于发明好了。
这时，我听到了警报声，糟糕！又发生地震了。
我和我的救援机器人来到事故现场。
天哪!昔日繁荣的街道现在已经变成一片废墟，完全看不出原来的模样了。
想不了那么多了，开始救人吧！我放下机器人，机器人开始启动它的红热感应器，它朝着废墟走去。
这时它发现了一个人，于是用电钻把他身上的大砖块钻碎了，我立即把他带到救援人员那里，他们立即对他进行医疗救治。
就这样，我跟着它救出了许多人。
虽然我的机器人救人英勇无比，但有时候也是会闹出一些乌龙事件。
记得有一次，我和我妹妹在用积木搭房子，一不小心，房子倒了，这时救援机器人出现了，原来它以为发地震了，于是把积木全打碎了。
虽然我的救援机器人有时也有点不靠谱，但它依然是我心目中的大英雄。
精彩点评：如果呈语未来的某一天真能发明如文中所展示的救援机器人，那真是人类的福音呢！既英勇又有点傻气的机器人简直萌老师一脸血，文章对于救援现场和过程的描写非常地生动细致，如此神勇可爱的机器人怎么能忘了给他起名字呢！。
机器人———抗灾救援毕业设计
机器人———抗灾救援一、作品简介本设计是一种在规定尺寸范围内既能在平地顺利转弯、行进此作品是根据抗灾救援中出现人被困于交通中断、封闭空间中的复杂地形中，救援人员无法到达那些复杂地区而导致延误救援时间，所以我们设计了抗灾救援机器人，我们设计的机器人适用于各种复杂地形，并且可以通过准确的人为控制解救被困于被重物形成封闭空间中的人。
由于我们的设计的机器人的移动是由4个可以360度转动的轮子组成，所以可以在复杂环境中自由移动，受环境的约束小；遇到过不去的沟或河道时，我们可以通过控制机器人架桥来障碍，达到救援现场；当有重物阻挡道路或者被重物困住时，我们通过控制机械手臂来移除和搬运重物。
二、研制背景及意义2.1这些机器人的参与，在救灾方面可以起到事半功倍的效果。
随着救灾机器人的完善，所需的人力也就会减少很多，从而使得跟少的人从事救灾这样危险的工作，更有效的起到了保护人民安全的作用。
所以我们要从学生时代抓起，充分利用年轻人的聪明才智，也为国家发掘人才，做出贡献。
，同时也可以调动年轻一带对科学的热爱与认知。
积极参加这类活动，可以是我们的聪明才智的到更好的发挥，同时也相当于对国家关于抗震救灾做出自己小小的贡献。
2.2随着科学技术和经济的不断发展，先进制造技术和数控技术、最优化设计的广泛应用，使得生产进一步智能化、自动化、经济化。
创新设计得到越来越重视也并得到广泛的发展，也变得智能化，很多问题可以通过计算机实现，减轻了设计的强度，缩短了设计周期，结合优化设计，创新设计变得异常简单，市场上的商品由此变得纷繁多样。
2.3培养大学生的创新意识和创新能力，注重培养大学生的创新设计能力、综合设计能力和协作精神；加强大学生动手能力的培养和工程实践的训练；丰富和活跃校园学术氛围。
三、设计具体要求3.1参赛作品的总体要求（一）机器人重量不限，但应尽可能轻。
（二）机器人造价不限，但应尽可能低。
（三）机器人操控可采用线控或遥控法方式。
搜救机器人毕业实习报告解读
搜救机器人毕业实习报告解读目录引言 (1)1.搜救机器人研究的目的和意义 (1)1.1、搜救机器人研究的背景 (1)1.2、搜救器人研究的意义 (2)2．国内外研究现状 (2)2.1国外研究状况 (2)2.2国内研究现状 (4)3. 搜救机器人的行走机构 (5)3.1行走机构方案比较 (5)3.2腿式移动机构特点 (8)3.3．履带式搜救器人的发展趋势 (9)4.搜救机器人技术需求 (9)5.搜救机器人传感器 (12)5.1 红外传感器及模糊控制 (12)5.2光敏传感器与模糊算法的结合应用 (13)5.3灰度传感器及指南针 (14)5.4传感器融合 (14)6毕业设计初定方案 (15)7．实习小结 (15)8.参考文献 (16)第一章绪论1.1引言地震、火灾、矿难等灾难发生后，在废墟中搜寻幸存者．给予必要的医疗救助，并尽快救出被困者是救援人员面临的紧迫任务。
实际经验表明，超过48小时后被困在废墟中的幸存者存活的概率变得越来越低”。
由于灾难现场情况复杂，在救援人员自身安全得不到保证的情况下是很难进人现场开展救援工作的，此外，废墟中形成的狭小空阀使控救人员甚至搜救犬也无法进入。
灾难搜救机器人可以很好地解决上述问题。
机器人可以在灾难发生后第一时间进人灾难现场寻找幸存者，对被困人员提供基本的医疗救助服务，进入救援人员无法进入的现场搜集有关信息并反馈给救援指挥中心等。
近年来，为了满足救援工作的需要，国内外很多研究机构开展了大量的研究工作，可在灾难现场废墟中狭小空间内搜寻的各类机器人如可变形多态机器人、蛇形机器人等相继被开发出来。
本文在介绍国内外灾难搜救机器人最新研究成果及近年来灾难现场的实际使用情况的基础上，根据现场使用的经验教训提出了灾难救援机器人需要解决的一些关键技术问题，指出了灾难救援机器人的发展趋势。
1.2课题研究的背景及意义1.21课题研究的背景机器人是人类智慧的产物，他能完成人类无法实现的作业，20世纪就已经得到社会各界人士高度重视的机器人，在21世纪更是如娇娇宠儿，得到世人关注。
智能抢险救灾履带式机器人
摘要智能抢险救灾履带式机器人是一种具有可变形的多履带的机器人平台。
它集成了机械工程、电子技术、智能控制、计算机科学等多学科领域先进研究成果，可应用于诸如地震、火灾等灾害的救援，能为决策指挥者提供包括现场实时视频、现场环境温湿度以及是否有生命迹象等信息。
本论文研究工作的目的是设计具有高通过性的、能携带多种救援设备的、具有可变形履带的智能机器人。
该机器人采用模块化设计，便于根据不同任务添加不同配置，而且易于维修和保养。
本设计采用了具有减震设计的可变形履带双车体结构，提高了机器人在复杂路况中的可通过能力。
CAN(Controller Area Network)总线和多传感器信息融合技术的应用使得机器人具有高度的自主决策能力，可在人员不便到达或者远程遥控不起作用的环境中提供重要帮助。
本论文通过分析国内外经典的设计方案，从机器人的运动原理、运动结构、智能控制和功能分析等几个方面展开研究。
机器人的设计过程是，先利用机械工程原理设计出机器人移动底盘，然后在此基础上通过CAN总线，利用多传感器信息融合技术把分布在机器人车体各处的传感器连接起来，实现智能控制。
关键词：可变形；模块化；智能控制；CAN总线；信息融合ABSTRACTIntelligent emergency rescue and disaster relief caterpillar robot is one kind has the variability of the robot platform caterpillar. It integrates mechanical engineering, electronic technology, intelligent control, computer science science field advanced research achievements, can be used in applications such as earthquake and fire disaster rescue, can provide real-time field commanders decision-making include video, the environment temperature and humidity and whether any sign of life and o ther information.This paper studies the purpose of the work is designed with high through the ability, carries a rescue equipment, has the variability of the crawler intelligent robot. The robot using modular design, facilitate according to different tasks adding different configuration, and easy to repair and maintenance. The design USES a earthquake-reduction design can double car body structure deformation crawler, improve the robot in the complex of the road by ability. CAN bus and the multi-sensor information fusion technology application makes robot are highly autonomous decision-making ability, CAN be in personnel arrive or inconvenience remote-guided doesn't work environment to provide important help.This thesis analyzes the classic design at home and abroad, from the movement principle, movement structure, intelligent control and functional analysis of several aspects. The design process of the robot is that,first use the mechanical engineering principle to design the robot move chassis, and then based on this through the CAN bus, using multi-sensor information fusion technology in the distribution of robot body sensors everywhere,realizing intelligent control.Keywords: variability; modular; intelligent control; CAN bus; information fusion目录摘要 (I)ABSTRACT (II)目录 ................................................................................................................................. I II 1.绪论 (1)1.1课题研究背景和意义 (1)1.1.1课题研究背景 (1)1.1.2 课题研究意义 (1)1.2国内外研究综述 (1)1.2.1 国内研究概况 (1)1.2.2 国外研究概况 (2)1. 3 本文主要研究内容 (4)2.智能履带式机器人的行走结构设计方案 (6)2.1典型行走机构分析 (6)2.2智能履带式机器人行走结构 (10)2.2.1 机器人运动原理 (10)2.2.2 机器人运动状态分析 (10)2.2.3 机器人性能指标分析 (11)3.机器人行走控制系统设计 (14)3.1总体设计方案 (14)3.1.1 行走结构控制设计 (14)3.1.2 机器人模块化控制系统 (17)3.2机器人传动系统设计 (26)3.2.1行走驱动方案设计 (26)3.2.2履带变形方案设计 (28)3.3 机器人驱动功率分析 (31)3.3.1 机器人行驶阻力计算 (31)3.3.2 机器人电机及其驱动模块 (32)4.智能移动机器人关键技术 (33)4.1 多传感器信息融合技术 (33)4.2 传感器技术 (39)4.3 无线技术 (42)4.4 智能移动机器人技术在本设计中的具体应用 (43)5.抢险救灾机器人功能分析 (44)5.1机器人在抢险救灾中的应用分析 (44)5.1.1机器人在抢险救灾中的应用研究 (44)5.1.2典型的机器人在抢救援中的具体应用分析 (48)5.2机器人搭载的抢险救灾仪器分析 (49)5.3 本设计搭载设备分析 (50)6.总结与展望 (51)6.1 总结 (51)6.2 展望 (51)致谢 (53)参考文献 (54)附录 (57)1.绪论1.1课题研究背景和意义1.1.1课题研究背景在世界各地，由于自然灾害、恐怖活动和各种突发事故等原因，灾难经常发生。
救援机器人毕业设计
救援机器人毕业设计
随着自然灾害和人为事故的频繁发生，救援机器人逐渐成为重要的援助工具。
本篇毕业设计旨在设计一种多功能的救援机器人，以便在各种紧急情况下提供必要的援助。
设计思路：
1. 结构设计：
救援机器人的结构需要面对各种不同的环境，包括火灾、地震、洪水等。
因此，它的结构需要具有耐高温、防水、防震等特性。
机器人装备有多个机械臂，能够在不同的场景下进行有效的操作，例如搜寻被困者、拯救伤员等。
2. 传感器设计：
救援机器人装配有多种传感器，包括温度传感器、气体传感器、声音传感器等。
这些传感器能够帮助机器人辨识出各种环境中的问题，并提供相关的信息。
例如，在火灾中，机器人可以利用传感器来检测房屋内的温度和任何潜在的危险。
3. 程序设计：
机器人需要具有一定的智能，能够根据环境的变化做出正确的反应。
机器人配备了多个算法，例如对象检测、运动规划等，能够在不同的场景下做出正确的决策。
4. 发电机：
机器人配备了太阳能发电机，以保证在没有电力供应的情况下，机器人仍能正常运作。
此外，机器人还配备了备用电池，以提供额外的能量储备。
结论：
在救援工作中，救援机器人可以发挥重要作用。
设计一种多功能的救援机器人，能够帮助消防员、医生等工作人员有效地解决紧急情况下的问题。
在未来，随着技术的发展，救援机器人将会变得更加先进和智能化。
救援机器人的作文
救援机器人的作文Rescue robots are becoming increasingly important in today's world. 救援机器人在当今世界变得日益重要。
They are designed to assist in search and rescue missions in hazardous environments where humans may not be able to safely access. 它们旨在在危险环境中协助搜索和救援任务，在那些人类可能无法安全进入的地方。
These robots are equipped with advanced technology that allows them to navigate through challenging terrains and locate victims in need of help. 这些机器人配备了先进技术，可以帮助它们在复杂的地形中导航，并找到需要帮助的受害者。
One of the key advantages of rescue robots is their ability to access areas that may be too dangerous for human rescuers. 救援机器人的一个关键优势是它们能够进入人类救援者可能过于危险的区域。
For example, in the aftermath of natural disasters such as earthquakes or hurricanes, rescue robots can be deployed to search for survivors in collapsed buildings or other hazardous environments. 例如，在地震或飓风等自然灾害后，救援机器人可以被用来搜寻倒塌建筑物或其他危险环境中的幸存者。
搬运机器人毕业设计 (含外文翻译)
1 前言众所周知随着社会的不断发展，各行各业的分工越来越明细，尤其是在现代化的大产业中，有的人每天就只管拧一批产品的同一个部位上的一个螺母，有的人整天就是接一个线头，人们感到自己在不断异化，各种职业病逐渐产生，于是人们强烈希望用某种机器代替自己工作，因此人们研制出了机器人，用以代替人们去完成那些单调、枯燥或是危险的工作。
搬运机器人的显著特点是无人驾驶，它装备有自动导向系统，可以保障系统在不需要人工引航的情况下就能够沿预定的路线自动行驶，将货物或物料自动从起始点运送到目的地。
1搬运机器人的另一个特点是柔性好，自动化程度高和智能化水平高，它的行驶路径可以根据仓储货位要求、生产工艺流程等改变而灵活改变，并且运行路径改变的费用与传统的输送带和刚性的传送线相比非常低廉。
搬运机器人一般配备有装卸机构，可以与其他物流设备自动接口，实现货物和物料装卸与搬运全过程自动化。
此外，搬运机器人还具有清洁生产的特点，依靠自带的蓄电池提供动力，运行过程中无噪声、无污染，可以应用在许多要求工作环境清洁的场所。
搬运机器人作为一种成熟的产品和技术在发达国家已经广泛应用，对企业提高生产效率降低成本提高产品质量提高企业生产管理水平起到了显著的作用。
随着工业自动化的发展，国内外的应用和需求越来越强烈，已经约有千台AGV 在使用，而且市场在逐渐扩大。
根据初步市场调查分析，今后5 年内，国内各行业对AGV 需求量可达数千台，年产值接近2 亿元，经济效益十分可观。
1.1 国内外的发展现状总结一下，我们认为，机器人有三个发展阶段，那么也就是说，我们习惯于把机器人分成三类，一种是第一代机器人，那么也叫示教再现型机器人，它是通过一个计算机，来控制一个多自由度的一个机械，通过示教存储程序和信息，工作时把信息读取出来，然后发出指令，这样的话机器人可以重复的根据人当时示教的结果，再现出这种动作，比方说汽车的点焊机器人，它只要把这个点焊的过程示教完以后，它总是重复这样一种工作，它对于外界的环境没有感知，这个操作力的大小，这个工件存在不存在，焊的好与坏，它并不知道，那么实际上这种第一代机器人，也就存在它这种缺陷。
毕业设计---救援机器人控制系统设计[管理资料]
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本科毕业设计（论文）题目：救援机器人控制系统设计学生姓名学号教学院系专业年级指导教师职称完成日期摘要本文介绍了一种基于装载了dsp芯片的大学版智能机器人的灭火控制系统。
该系统采用了大学版智能小车MT-UROBOT为硬件平台，因为其是专门为大学进行课程教学、工程训练、科技创新以及研究服务的新型移动智能机器人，有一个功能很强的CPU和一组灵敏的传感器，它不仅可以对外部环境做出敏锐的反应，而且还可以与你进行交流，具有良好的人机界面。
灭火控制装置是以小车为平台与电子开关协同来控制风扇，用ROBOT-X编写程序的一套控制系统。
本设计中的机器人模块突出的扩展性能，高速的处理系统，使得灭火控制系统方案与方式多种多样，配套的ROBOT-X编程软件拥有由浅入深的流程图、C语言2种语言实现功能，除此之外汇编语言编程环境也是我们大学版智能机器人的重要特色。
在本次设计中，硬件电路电子开关除了可以控制小车风扇外，还可以通用在众多有关电子方面的电路中。
本设计中还考虑到小车自身对风扇的供电不足，外置了独立的供电电源，以及对小车输出的控制信号存在的电压不足的问题，也设置了提高电压的电路，使小车与风扇能够正常的运行。
该智能机器人可以用于灭火、救援等危险作业。
关键词：智能机器人；控制系统；风扇；电压AbstractThis paper introduces a loaded dsp chip based on the university version of Smart car in the fire control system. The system uses the university version of Smart car MT-UROBOT as the hardware platform, because it is designed for University teaching, engineering training, technology innovation and research services in the new mobile intelligent robot, a functional strong CPU and a set of sensitive sensors, which can not only make a sharp response to the external environment, but also to communicate with you, good man-machine interface. Fire control car as a platform based on collaboration with the electronic switch to control the fan, with the ROBOT-X programming of a control system.The design of the car highlight the scalability, high-speed processing systems, making fire control system programs and a variety of ways, supporting the ROBOT-X programming software has a progressive approach to the flow chart, C Language 2 language features, addition Assembly language programming environment outside the university version of our important feature of intelligent robots. In this design, the hardware circuits of electronic switches to control the car in addition to the fan, but also can be common in many areas related to electronic circuits. The design also takes into account the car's own power supply shortage of fans, external independent power supply, and the existence of car control signal output voltage shortage, but also increase the voltage of the circuit is set so that car with the fan to normal operation.Keywords: smart car; control system; fan; voltage目录1绪论 (5) (5) (5) (5) (6)2总体设计方案 (7) (7) (7)3救援灭火机器人的组成 (8) (8)MT-UROBOT的电池 (8) (10)控制部分 (11) (12) (13) (14)4硬件连接与软件编程 (17) (17) (18) (18) (22)5机器人灭火 (23) (23) (25) (25) (26) (29) (30) (31) (33)6结论 (34)谢辞 (35)参考文献 (35)附录 (37)附录1：ROBOT-X编程软件函数库 (37)附录2：本设计小车相关控制器件与控制卡技术指标 (39)附录3相关传感器技术指标 (42)附录4传感器接线 (43)1绪论近年来，我国石化等基础工业有了飞速的发展，在生产过程中的易燃易爆和剧毒化学制品急剧增长，由于设备和管理方面的原因，导致化学危险品和放射性物质泄漏、燃烧爆炸的事故增多。
救援机器人的好处英语作文
救援机器人的好处英语作文Rescue robots are incredibly beneficial in emergency situations. They can navigate through dangerous and hazardous environments that are inaccessible to humans, such as collapsed buildings or areas contaminated withtoxic substances. These robots are equipped with advanced sensors and cameras, allowing them to gather critical information and provide real-time updates to rescue teams. With their ability to withstand extreme conditions, rescue robots can save lives by locating survivors and guiding rescuers to them.In addition to their physical capabilities, rescue robots also offer psychological support to victims. The presence of a robot can provide comfort and reassurance to those trapped or injured in a disaster. The robot's non-human appearance can help alleviate fear and anxiety, as it is seen as a neutral and non-threatening entity. Furthermore, the robot can act as a companion, engaging in simple conversations or playing soothing music to help calmdistressed individuals.Rescue robots are not only useful in natural disasters but also in man-made emergencies, such as fires orterrorist attacks. These robots can enter dangerous areas and assess the situation without risking human lives. They can locate and extinguish fires, deactivate explosive devices, or provide valuable information to law enforcement agencies. By minimizing the exposure of humans to life-threatening situations, rescue robots play a crucial role in ensuring the safety and security of both victims and rescuers.The use of rescue robots also reduces the burden on human rescuers. In large-scale disasters, there is often a shortage of trained personnel and resources. Robots can assist in tasks such as carrying heavy equipment, clearing debris, or providing medical aid. This allows human rescuers to focus on more critical and complex tasks, maximizing their efficiency and effectiveness. Moreover, robots can work tirelessly without fatigue or the need for rest, ensuring continuous rescue operations even inprolonged emergency situations.Rescue robots are not limited to terrestrial operations; they can also be deployed in maritime or aerial rescues. Underwater robots can search for survivors in submerged vehicles or collapsed structures, while drones can provide aerial surveillance and deliver essential supplies. These versatile robots can adapt to various environments and provide invaluable assistance in a wide range of emergency scenarios.In conclusion, rescue robots offer numerous benefits in emergency situations. From their ability to navigate hazardous environments to their psychological support for victims, these robots play a vital role in saving lives and ensuring the safety of both victims and rescuers. Their presence reduces the risks faced by humans and enhances the efficiency of rescue operations. As technology continues to advance, the capabilities of rescue robots will only improve, further enhancing their effectiveness in emergency response.。
毕业论文外文翻译-基于视觉的矿井救援机器人场景识别
附录英文原文Scene recognition for mine rescue robotlocalization based on visionAbstract：A new scene recognition system was presented based on fuzzy logic and hidden Markov model(HMM) that can be applied in mine rescue robot localization during emergencies. The system uses monocular camera to acquire omni-directional images of the mine environment where the robot locates. By adopting center-surround difference method, the salient local image regions are extracted from the images as natural landmarks. These landmarks are organized by using HMM to represent the scene where the robot is, and fuzzy logic strategy is used to match the scene and landmark. By this way, the localization problem, which is the scene recognition problem in the system, can be converted into the evaluation problem of HMM. The contributions of these skills make the system have the ability to deal with changes in scale, 2D rotation and viewpoint. The results of experiments also prove that the system has higher ratio of recognition and localization in both static and dynamic mine environments.Key words: robot location; scene recognition; salient image; matching strategy; fuzzy logic; hidden Markov model1 IntroductionSearch and rescue in disaster area in the domain of robot is a burgeoning and challenging subject[1]. Mine rescue robot was developed to enter mines during emergencies to locate possible escape routes for those trapped inside and determine whether it is safe for human to enter or not. Localization is a fundamental problem in this field. Localization methods based on camera can be mainly classified into geometric, topological or hybrid ones[2]. With its feasibility and effectiveness, scene recognition becomes one of the important technologies of topological localization.Currently most scene recognition methods are based on global image features and have two distinct stages: training offline and matching online.During the training stage, robot collects the images of the environment where it works and processes the images to extract global features that represent the scene. Some approaches were used to analyze the data-set of image directly and some primary features were found, such as the PCA method [3]. However, the PCA method is not effective in distinguishing the classes of features. Another type of approach uses appearance features including color, texture and edge density to represent the image. For example, ZHOU et al[4] used multidimensional histograms to describe global appearance features. This method is simple but sensitive to scale and illumination changes. In fact, all kinds of global image features are suffered from the change of environment.LOWE [5] presented a SIFT method that uses similarity invariant descriptors formed by characteristic scale and orientation at interest points to obtain the features. The features are invariant to image scaling, translation, rotation and partially invariant to illumination changes. But SIFT may generate 1 000 or more interest points, which may slow down the processor dramatically.During the matching stage, nearest neighbor strategy(NN) is widely adopted for its facility and intelligibility[6]. But it cannot capture the contribution of individual feature for scene recognition. In experiments, the NN is not good enough to express the similarity between two patterns. Furthermore, the selected features can not represent the scene thoroughly according to the state-of-art pattern recognition, which makes recognition not reliable[7].So in this work a new recognition system is presented, which is more reliable and effective if it is used in a complex mine environment. In this system, we improve the invariance by extracting salient local image regions as landmarks to replace the whole image to deal with large changes in scale, 2D rotation and viewpoint. And the number of interest points is reduced effectively, which makes the processing easier. Fuzzy recognition strategy is designed to recognize the landmarks in place of NN, which can strengthen the contribution of individual feature for scene recognition. Because of its partial information resuming ability, hidden Markov model is adopted to organize those landmarks, which can capture the structure or relationship among them. So scene recognition can be transformed to the evaluation problem of HMM, which makes recognition robust.2 Salient local image regions detectionResearches on biological vision system indicate that organism (like drosophila) often pays attention to certain special regions in the scene for their behavioral relevance or local image cues while observing surroundings [8]. These regions can be taken as natural landmarks to effectively represent and distinguish different environments. Inspired by those, we use center-surround difference method to detect salient regions in multi-scale image spaces. The opponencies of color and texture are computed to create the saliency map.Follow-up, sub-image centered at the salient position in S is taken as the landmark region. The size of the landmark region can be decided adaptively according to the changes of gradient orientation of the local image [11].Mobile robot navigation requires that natural landmarks should be detected stably when environments change to some extent. To validate the repeatability on landmark detection of our approach, we have done some experiments on the cases of scale, 2D rotation and viewpoint changes etc. Fig.1 shows that the door is detected for its saliency when viewpoint changes. More detailed analysis and results about scale and rotation can be found in our previous works[12].3 Scene recognition and localizationDifferent from other scene recognition systems, our system doesn’t need training offline. In other words, our scenes are not classified in advance. When robot wanders, scenes captured at intervals of fixed time are used to build the vertex of a topological map, which represents the place where robot locates. Although the map’s geometric layout is ignored by the localization system, it is useful for visualization and debugging[13] and beneficial to path planning. So localization means searching the best match of current scene on the map. In this paper hidden Markov model is used to organize the extracted landmarks from current scene and create the vertex of topological map for its partial information resuming ability.Resembled by panoramic vision system, robot looks around to get omni-images. FromFig.1 Experiment on viewpoint changeseach image, salient local regions are detected and formed to be a sequence, named as landmark sequence whose order is the same as the image sequence. Then a hidden Markov model is created based on the landmark sequence involving k salientlocal image regions, which is taken as the description of the place where the robot locates. In our system EVI-D70 camera has a view field of ±170°. Considering the overlap effect, we sample environment every 45° to get 8 images.Let the 8 images as hidden state Si (1≤i≤8), the created HMM can be illustrated by Fig.2. The parameters of HMM, aij and bjk, are achieved by learning, using Baulm-Welch algorithm[14]. The threshold of convergence is set as 0.001.As for the edge of topological map, we assign it with distance information between two vertices. The distances can be computed according to odometry readings.Fig.2 HMM of environmentTo locate itself on the topological map, robot must run its ‘eye’ on environment and extract a landmark sequence L1′ − Lk′ , then search the map for the best matched vertex (scene). Different from traditional probabilistic localization[15], in our system localization problem can be converted to the evaluation problem of HMM. The vertex with the greatest evaluation value, which must also be greater than a threshold, is taken as the best matched vertex, which indicates the most possible place where the robot is.4 Match strategy based on fuzzy logicOne of the key issues in image match problem is to choose the most effective features or descriptors to represent the original image. Due to robot movement, those extracted landmark regions will change at pixel level. So, the descriptors or features chosen should be invariant to some extent according to the changes of scale, rotation and viewpoint etc. In this paper, we use 4 features commonly adopted in the community that are briefly described as follows.GO: Gradient orientation. It has been proved that illumination and rotationchanges are likely to have less influence on it[5].ASM and ENT: Angular second moment and entropy, which are two texture descriptors.H: Hue, which is used to describe the fundamental information of the image.Another key issue in match problem is to choose a good match strategy or algorithm. Usually nearest neighbor strategy (NN) is used to measure the similarity between two patterns. But we have found in the experiments that NN can’t adequately exhibit the individual descriptor or feature’s contribution to similarity measurement. As indicated in Fig.4, the input image Fig.4(a) comes from different view of Fig.4(b). But the distance between Figs.4(a) and (b) computed by Jefferey divergence is larger than Fig.4(c).To solve the problem, we design a new match algorithm based on fuzzy logic for exhibiting the subtle changes of each features. The algorithm is described as below.And the landmark in the database whose fused similarity degree is higher than any others is taken as the best match. The match results of Figs.2(b) and (c) are demonstrated by Fig.3. As indicated, this method can measure the similarity effectively between two patterns.Fig.3 Similarity computed using fuzzy strategy5 Experiments and analysisThe localization system has been implemented on a mobile robot, which is built by our laboratory. The vision system is composed of a CCD camera and a frame-grabber IVC-4200. The resolution of image is set to be 400×320 and the sample frequency is set to be 10 frames/s. The computer system is composed of 1 GHz processor and 512 M memory, which is carried by the robot. Presently the robot works in indoor environments.Because HMM is adopted to represent and recognize the scene, our system has the ability to capture the discrimination about distribution of salient local image regions and distinguish similar scenes effectively. Table 1 shows the recognition result of static environments including 5 laneways and a silo. 10 scenes are selected from each environment and HMMs are created for each scene. Then 20 scenes are collected when the robot enters each environment subsequently to match the 60 HMMs above.In the table, “truth” means that the scene to be localized matches with the right scene (the evaluation value of HMM is 30% greater than the second high evaluation). “Uncertainty” means that the ev aluation value of HMM is greater than the second high evaluation under 10%. “Error match” means that the scene to be localized matches with the wrong scene. In the table, the ratio of error match is 0. But it is possible that the scene to be localized can’t match any scenes and new vertexes are created. Furthermore, the “ratio of truth” about silo is lower because salient cues are fewer in this kind of environment.In the period of automatic exploring, similar scenes can be combined. The process can be summarized as: when localization succeeds, the current landmark sequence is added to the accompanying observation sequence of the matched vertex un-repeatedly according to their orientation (including the angle of the image from which the salient local region and the heading of the robot come). The parameters of HMM are learned again.Compared with the approaches using appearance features of the whole image (Method 2, M2), our system (M1) uses local salient regions to localize and map, which makes it have more tolerance of scale, viewpoint changes caused by robot’smovement and higher ratio of recognition and fewer amount of vertices on the topological map. So, our system has better performance in dynamic environment. These can be seen in Table 2. Laneways 1, 2, 4, 5 are in operation where some miners are working, which puzzle the robot.6 Conclusions1) Salient local image features are extracted to replace the whole image to participate in recognition, which improve the tolerance of changes in scale, 2D rotation and viewpoint of environment image.2) Fuzzy logic is used to recognize the local image, and emphasize the individual feature’s contribution to recognition, which improves the reliability of landmarks.3) HMM is used to capture the structure or relationship of those local images, which converts the scene recognition problem into the evaluation problem of HMM.4) The results from the above experiments demonstrate that the mine rescue robot scene recognition system has higher ratio of recognition and localization.Future work will be focused on using HMM to deal with the uncertainty of localization.中文翻译基于视觉的矿井救援机器人场景识别摘要：基于模糊逻辑和隐马尔可夫模型（HMM），论文提出了一个新的场景识别系统，可应用于紧急情况下矿山救援机器人的定位。
介绍救人机器人作文
介绍救人机器人作文英文回答：Introduction:Rescue robots are advanced machines designed to assist in emergency situations where human lives are at risk. These robots are equipped with various sensors, cameras, and mechanical arms, enabling them to navigate through dangerous environments and perform life-saving tasks. In this essay, I will discuss the importance of rescue robots and how they have revolutionized emergency response.Body:1. Enhanced Speed and Efficiency:Rescue robots are capable of reaching disaster-stricken areas much faster than human responders. For instance, in the case of earthquakes or building collapses, time is ofthe essence. These robots can swiftly traverse rubble, debris, and other hazardous obstacles, saving valuable minutes or even hours. Their agility and mechanical capabilities allow them to access areas that may be inaccessible to humans, increasing the chances of finding survivors.2. Remote Sensing and Surveillance:Rescue robots are equipped with advanced sensors and cameras that provide real-time data to human operators. This remote sensing capability allows responders to assess the situation more accurately and make informed decisions. For example, in a fire incident, a robot can enter a burning building and transmit live video footage to firefighters outside, enabling them to strategize and plan their rescue operations effectively. This technology minimizes the risk to human lives by providing crucial information without endangering responders.3. Life-Saving Tasks:Rescue robots are designed to perform various life-saving tasks that are too dangerous or physically demanding for humans. These tasks include removing debris, providing medical assistance, and even extracting people trapped in collapsed structures. For instance, the use of a robot with mechanical arms can help extricate a person stuck under heavy wreckage without risking further injury. This capability not only saves lives but also reduces the physical strain on human responders, allowing them to focus on other critical tasks.4. Adaptability and Versatility:Rescue robots are designed to adapt to different emergency scenarios and perform a wide range of tasks. They can be programmed to operate in various environments, such as underwater, in extreme temperatures, or even in hazardous chemical spills. This versatility makes them invaluable assets in emergency response efforts. For instance, a robot equipped with water-resistantcapabilities can assist in rescue operations during floods or tsunamis, where human intervention may be limited orrisky.Conclusion:In conclusion, rescue robots have revolutionized emergency response by enhancing speed and efficiency, providing remote sensing and surveillance capabilities, performing life-saving tasks, and demonstrating adaptability and versatility. These machines have the potential to save countless lives and reduce the risks faced by human responders. As technology continues to advance, the development and deployment of rescue robots will play an increasingly crucial role in safeguarding human lives during emergencies.中文回答：引言：救援机器人是先进的机器，旨在在危急情况下协助拯救人类生命。
毕业设计说明书(机器人解救人质)
摘要:本设计基于传感器技术、智能控制技术、机电一体化技术及机器人学研制了一个能穿山洞，过小河,完成解救“人质”，并放置到安全通道等一系列动作的智能电动小车。
论文分析了小车本体、主控系统、信息感知单元、驱动单元等模块的理论论证、设计与调试过程，并结合实际调试过程的分析，详细阐述了小车整个行驶过程中的运动参数的规划与实现。
本设计的理论设计方案、调试方法、测试数据分析方法及设计中的特色与创新点等对自动运输机器人、家用清洁机器人、灭火机器人等自主及半自主机器人的设计与实现有一定的参考意义。
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(完整版)救援机器人毕业设计论文
德州学院毕业论文（设计）中期检查表目录摘要及关键词 (1)1 引言 (1)1.1选题的背景和意义 (1)1.2 国内外的发展趋势和研究现状 (2)2 救援机器人的机械设计 (3)2.1机器人的移动机构设计 (3)2.2机器人运动分析 (5)2.3机器人的传动系统设计 (9)3 救援机器人的控制系统设计 (11)3.1硬件设计 (11)3.2智能机器人的软件设计 (15)4 结论 (17)参考文献： (19)谢辞 (20)救援机器人的设计摘要：本设计是一种可携带的履带式救援机器人，它集成了机械工程、电子技术、智能控制、计算机科学等多科领域先进研究成果，在救援中可用于环境勘探、破障、目标指示跟踪，可以为救援人员提供有效的信息以便做出最有效的措施。
本论文的研究目的是设计机构新颖、具有独创性、可携带抗冲击的智能移动机器人。
关键词：可携带履带式机器人；虚拟仿真；复合移动1 引言1.1选题的背景和意义煤炭工业是我国国民经济的基础产业，煤炭在我国能源发展格局中的基础地位是稳固的前景是广阔的建国。
50多年来，煤炭作为我国的主要能源，在一次能源消费结构中占有大部分比例。
随着我国国民经济的快速发展，人民生活水平的不断提高，国家对能源的需求将有大幅度的增加[1]。
针对我国煤炭事故的不断增多，且救援水平较低的现状，研究适用于井下瓦斯、煤尘爆炸等重大事故后，能够代替人及时进入事故现场，监测井下环境状况、准确的判断井下作业人员的受困位置以及获取环境信息的煤矿救援机器人系统，实现煤炭矿灾后科学救援，最大限度的减少人员伤亡和财产损失，从而提高我国煤矿安全事故的救援水平具有非常重要的意义。
随着经济的快速发展煤炭的消耗越来越大，而我国的煤炭事业大多数为矿工开采，所以存在的不安全因素很多，瓦斯煤尘和火灾等灾害事故频繁发生，灾害事故严重伤害矿工和造成重大经济损失。
因此开发具有智能的救援机器人是非常具有现实意义的。
目前，救灾方式只是根据事故的类型确定救灾的方案，一般救护人员无法进入危险区域，只能通过提升绞车、移动式风车等设备清除垃圾，向井下通风，然后再搜救遇险矿工。
毕业设计说明书履带式搜救机器人机械结构设计
摘要煤矿灾害尤其是瓦斯煤尘爆炸事故发生后,矿井环境十分复杂,井下因灾受伤人员面临极其危险的状况,需尽快地转移与救护；而救援工作异常困难和危险,往往在救援工作中造成救护人员的伤亡。
研发代替或部分代替救护人员及时、快速深入矿井灾区进行环境探测和搜救工作的救灾机器人具有极其重要的意义。
本论文研究工作的目的是设计结构新颖、具有独创性的可携带、抗一定冲击的履带移动机器人，以能够适应在恶劣环境和复杂路况下工作。
通过在移动系统上加载不同的模块，能够实现搜救机器人不同的使用功能，本研究意义在于为后续设计的搜救机器人提供一个基础的动力平台，以便于能够开发出更多使用功能的搜救机器人。
本研究所设计的搜救机器人移动方案是履带式驱动结构。
该方案采用模块化设计，便于拆卸维修，可以分段自适应复杂路面，并可主动控制两侧翼板模块的转动来调节机器人姿态变化，辅助爬坡、越障和跨沟；机器人经过合理的结构布局和设计后具有良好的环境适应能力、机动能力并能抵抗一定高度的掉落冲击。
所设计的机器人移动机构主要由四部分组成：主动轮减速驱动机构、翼板转动机构、自适应路面执行机构、履带及履带轮运动机构，本论文对上述各部分方案分别进行论证、结构设计计算、3D建模，并设计了搜救机器人虚拟样机。
关键字：搜救机器人；复合移动机构；模块化设计；AbstractCoal mine disasters,especially gas and coal dust explosion, mine environment is very complex and wounded tolls mine face extremely dangerous conditions,be transferred as soon as possible and rescue.and rescue work extremely difficult and dangerous, often resulting in the rescue work in the ambulance casualties.R & D to replace or partially replace the ambulance personnel in a timely manner, quick in-depth environmental exploration and mine disaster relief robot search and rescue work is extremely important The purpose of this thesis is to design novel structure, its unique portable,shock intelligently tracked mobile robot, in order to be able to adapt to the harsh environment and the complicated road to work.Mobile systems loaded by different modules, search and rescue robots can be achieved using different functions, this study is important because other people's search and rescue robot designed to provide a basis for the dynamic platform to facilitate greater use of features can developsearch and rescue robots.This resoarch is moving search and rescue robot crawler.The program is modular in design, easy disassembly maintenance, can be complex adaptive sub-surface, active control can turn on both sides of flange module to adjust the robot pose changes, supporting climbing,obstacle and cross-channel.The design of the robot moving mechanism mainly consists of four components. Active wheel reducer drive mechanism, flange rotation institutions, adaptive road implementing agencies, sports organizations track and track wheels, part of the paper on the above programs were carried out feasibility studies, structural designcalculation, 3D modeling , and design a rescue robot prototype.Key words: search and rescue robots; composite mobile body; modular design目录前言 (1)1 绪论 (3)1.1 课题研究背景及意义 (3)1.1.1 课题研究背景 (3)1.1.2 课题研究意义 (3)1.2 国内外的研究概况 (5)1.2.1 国外研究现状 (5)2.2国内研究现状 (10)1.2.3 发展趋势 (11)2 搜救机器人的总体结构方案设计 (12)2.1 井下复杂环境对救灾机器人的要求 (12)2.2 典型移动机构方案论证分析 (13)2.2.1 轮式移动机构特点 (13)2.2.2 腿式移动机构特点 (14)2.2.3 履带式移动机构特点 (15)2.2.4 履、腿式移动机构特点 (16)2.2.5 轮、履、腿式移动机构性能比较 (17)2.3 本研究采用的行走机构 (17)2.4 救灾机器人性能指标与设计 (18)2.5 本章小结 (19)3矿用搜救机器人运动参数设计计算 (20)3.1机器人越障分析 (20)3.1.1机器人跨越台阶 (20)3.1.2跨越沟槽 (20)3.2斜坡运动分析 (20)3.3 本章小结 (20)4机器人移动平台机械设计 (21)4.1驱动电机的选则 (21)4.1.1基于平地的最大速度的电机功率计算 (21)4.1.2爬坡最大坡度的驱动电机功率计算 (22)4.2 本章小结 (23)5 驱动轮减速器设计 (24)5.1减速器方案分析 (24)5.1.1减速器应满足的要求 (24)5.1.2 减速器方案分析 (25)5.2 减速器的设计计算 (26)5.2.1减速器的传动方案分析 (26)5.2.2配齿计算 (26)5.2.3初步计算齿轮的主要参数 (27)5.2.4装配条件的计算 (32)5.2.5高速级齿轮强度的验算 (33)5.2.6 轴的设计及校核 (41)5.3 本章小结 (44)6移动机构履带及翼板部分设计 (44)6.1履带的选择 (44)6.1.1 确定带的型号和节距 (45)6.1.2确定主从动轮直径 (46)6.1.3确定节线长度和带宽 (46)6.2 翼板部分设计 (48)6.3 本章小结 (49)7机器人摇臂的设计 (49)7.1 摇臂作用概述 (49)7.2摇臂传动减速器设计 (51)7.3本章小结 (52)8 总结与展望 (53)致谢 (55)参考文献 (56)前言我国的煤炭资源十分丰富，是世界上最大的煤炭生产国和消费国。
救援机器人设计
救援机器人设计张瑞君;曹欢玲;陆涛;周剑飞;徐导勇;魏尧【摘要】This paper designs a rescue robot, which has the advantages of small volume, multiple functions and so on, and can adapt to the various needs of the search and rescue mission. Design content includes mechanism design of walking crawler, the design of four freedoms mechanical arm and gripper mechanism, and reciprocating saw broken barrier device and a bucket lifting mechanism design.%设计了一款救援机器人，具有体积小、多功能等特点，可适应救援任务的多种需求。
主要设计内容包括：履带式行走机构设计；四自由度机械臂和抓取机构设计；往复式电锯破障装置和铲斗抬升机构设计等。
【期刊名称】《机电工程技术》【年(卷),期】2014(000)004【总页数】3页(P12-13,70)【关键词】救援;机器人;机械手;破障【作者】张瑞君;曹欢玲;陆涛;周剑飞;徐导勇;魏尧【作者单位】浙江农林大学工程学院，浙江临安311300;浙江农林大学工程学院，浙江临安 311300;浙江农林大学工程学院，浙江临安 311300;浙江农林大学工程学院，浙江临安 311300;浙江农林大学工程学院，浙江临安 311300;浙江农林大学工程学院，浙江临安 311300【正文语种】中文【中图分类】TP242在自然界中，存在许多人类难以到达的地方和可能危及人类生命的特殊场合，如工地、地震救援等。
灾害搜救工作的复杂性和危险性往往给救援工作带来极大的困难，救援机器人将成为灾害辅助救援的有效工具[1-2]。
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研究基于嵌入式控制网络的搜救机器人多传感器信息融合算法摘要：针对在发生灾难情况下完成搜索任务的问题,本文提出了一种基于多传感器信息融合的优化策略。
首先,搜救机器人控制系统的硬件电路设计；其次,实现嵌入式系统软件设计；然后,提出了一个聚合作用的卡尔曼滤波模型,它使用本身的卡尔曼滤波器权重调度去提升系统的容错能力和整体的融合性能。
更重要的是,Adaboost算法实现了多传感器信息最理想的融合。
通过仿真测试实验,去验证机器人在非结构化环境下的横越搜索能力。
索引词：聚合卡尔曼滤波器、信息融合、搜救机器人、嵌入式系统I. 介绍世界每年都遭受巨大的自然和人为灾害[1]。
这些巨大的灾害导致许多建筑物倒塌和人员伤亡,当灾害发生时,最紧急的事情就是搜索和营救被困在废墟中的幸存者[2]。
研究表明,最佳救援时间是48小时以内[3]。
然而,复杂和危险的受灾地点给救援人员和幸存者带来巨大的威胁,也使救援行动延迟[4]。
易燃品、爆炸物和风力在灾害中容易引起大火[5]。
在一些危险的地区,如核电站、化工厂等[6],如果没有相应的保护或支持,即使是训练有素的专业救援人员也无法正常工作,然而,当他们穿防护装备时,环境感知能力受到限制[7],所以救援工作变得缓慢。
目前,搜索狗是搜索人体气味最有用的工具,但有很多不可避免的问题[8]。
根据经验丰富的俄罗斯搜索狗培训团的研究材料,一般来说,培训一只合格的搜索狗至少需要1.5年,而其有效工作时间是最多3年[9]。
在工作中,总时间不能超过2小时[10];连续工作时间不得超过30分钟,否则会因为精疲力竭使它对气味敏感性降低[11]。
这个缺陷是不能容忍的因为搜救机器人在紧急环境下需要依靠救援狗[12]。
在西方,培训和使用一只搜索狗的费用通常是40000美元，然而,搜索狗本能地逃离有危险气体的搜索和救援场景[13]。
基于多传感器信息融合的搜救机器人可以很好地解决这些问题[14]。
通过长期的研究，移动机器人在室内规整的环境下导航和定位、路径规划、地图的构建和未知环境的探索基本上是成熟的了[15],但复杂的和未知的非结构化环境下的灾难的场景仍然需要进一步的研究。
目前,搜救机器人的主要控制方式是人工操作,完全的自治权还没有实现。
自主移动机器人需要多传感器的融合去感知环境信息。
它可以根据单一路标沿着指定的路径移动，救援机器人是很简单的安排并且拥有高的灵活性。
但是相机捕捉到的图像很容易被射线影响,所以很难构建环境模型。
特别是在复杂的环境下,如背景和障碍物的颜色是相似的,判断周围的障碍物是很困难的。
而超声波传感器可以弥补这个缺点并且提供距离信息，可是，它现在存在的缺点是不能提供目标的准确方向。
在这篇文章中，基于多传感器信息融合的自主搜救机器人在灾难发生的地点代替传统的搜救队进行特定目标的搜寻工作。
嵌入式控制系统软件设计基于完整的救援机器人硬件系统。
我们融合多传感器单信息微型相机和超声波传感器实现自治多移动机器人的避障。
基于Adaboost算法实现了聚合卡尔曼滤波最优融合。
II.移动机器人和系统体系结构的设计A.机器人结构设计搜救机器人的主动轮和传动轮都是对称的(图1)。
在这个体系中每个轮子有相对机体中心位置,也有姿态角。
各种各样的设计定义参数和运动参数。
如果系统的雅可比矩阵的逆矩阵不是满秩,根据机器人运动学原理移动机器人系统中存在一个奇点。
移动机器人的自由度会减少。
为了确保运动系统有三个自由度,系统的雅可比矩阵的逆运动学矩阵必须满秩(等级= 3)。
图1 移动机器人的结构B.控制系统体系结构搜救机器人控制系统的内核是阿尔特拉公司的LPC2210和复杂可编程EPM7128SLC84芯片。
LPC2210执行的功能有实现实时控制电机的轨迹和位置、触发和控制CCD图像传感器、检测红外传感器和超声波传感器等传感器的状态。
在移动机器人系统中,大数量的传感器可以实现通过接口相连并且迅速交换信息。
我们利用复杂可编程逻辑器件实现双埠随机访问内存并且它解决了以上的问题。
双埠RAM有两个绝对独立的数据总线、地址总线和控制总线。
它允许两个独立的系统同时来访问双埠存储器,所以它实现了高速度的通信并且增强了读写操作的准确性。
控制系统结构图如图二所示。
图二控制系统结构图III. 嵌入式控制系统硬件设计A.ARM微处理器的选择和分析嵌入式系统的硬件核心组件是微控制器。
一般来说,处理器字长32位。
目前提到的嵌入式系统主要是16/32位(尤其是后者)RISC体系结构的微处理器/微控制器,用以去和早期8位微控制器系统区分开。
ARM7TDMI-S的核心芯片LPC2210是飞利浦公司生产的,它拥有所有ARM处理器的优点:低功耗、高性能、同时它有非常丰富的芯片资源,所以它是一个拥有非常高性价比的ARM芯片，它适用于嵌入式产品开发。
其主要特点是:1、引导程序装入在系统编程和应用程序设计中实现片装，实现了闪电般的编程时间，1毫秒时间可以编程512个字节；删除全部或者删除一部分只需要400毫秒。
2、EmbeddedICE-RT接口使能断点和观察点。
当前台任务使用片内RealMonitor软件调试时，中断服务程序可继续执行。
3、嵌入式跟踪宏单元支持对执行代码进行无干扰的高速实时跟踪。
4、无线电导航中断控制器可以设置优先级和配置导航地址。
B.重置状态和复位电路的设计当LPC2210在重置有效电平控制时,程序计数器(PC)和特殊功能寄存器处在复位状态。
它内部的每一个功能原件是受特殊功能寄存器的控制而且程序计数器命令程序直接运行。
寄存器的复位状态决定了内部相关功能组件的初始状态。
重置后,PC的地址是0x00000000,所以程序初始地址0x00000000。
也就是说,当系统启动时,CPU读取启动代码首先是重置地址0x00000000,LPC2210系统复位后,除了个人电脑和CPSR外其他的寄存器地址是不确定的。
CPSR地址变为b10011,它的I和F位是开启的,T位清空,然后返回ARM初始状态和恢复执行;电脑获取指令从开始地址0x00000000开始运行。
因为ARM芯片运行速度快、功率消耗低和低电压运行，所以它的其它很多方面要求很高，包括：噪声容限较低、电源纹波、瞬态相应性能、时钟源的稳定性和电源监测的可靠性。
这个主控制器复位电路使用特殊的微处理器监控MAX811的电力提高系统的可靠性,如图所示。
当重置按钮被按下,MAX811立即输出复位信号,其复位销输出低电平复位系统,MAX811复位销通常输出高电平。
C.电源电路设计在系统中,LPC2210需要3.3v直流稳定电压供应,一些其他的设备需要5.0v 直流稳定的电压供应,为了简化系统电源电路的设计,供应3.3 v和5.0 v高质量稳定的电压。
5.0 v电源在通讯电路中隔离在RS485 B0505LS隔离设备,使RS485电路等供电部分和地面分开,减少RS485时通信干扰,系统的电路如图3所示。
选AS1117为直流到直流电源转换器,可以完成5.0 v至3.3 v的转换,其特点是输出电流大、输出电压精度高、输出电压稳定。
一些大型电容电解电容器被放置在PCB电源入口端和电源输入和输出引脚来提高电源输入和输出的稳定性。
合适的电容值加上挑选的带能量供应芯片的参考电路,得出完整的电容选择。
图3 电源电路D. JTAG接口电路联合测试行动组织是一个国际标准测试准则,它主要用于芯片内部测试、系统仿真和调试。
这是一个嵌入式调试以排除故障的技术，并且特殊测试回路TAP(测试接入端口）装进了芯片中，内部节点是通过特殊JTAG测试工具进行测试。
目前,最复杂的组件的支持通过JTAG协议,如ARM、数字信号处理器、现场可编程门阵列和其它一些设备。
JTAG接口标准是四线连接:TMS、TCK、TDI和TDO 分别是测试模式选择、测试时间、测试数据输入和测试数据输出。
ARM7TDMI的调试接口基于基于IEEE的1149.1-1990标准和边界扫描系统结构的标准测试。
它包含高级调试特性的硬件,ARM在线模拟器得到了JTAG/ICE的支持。
芯片上的所有组件可以通过JTAG接口访问。
它常被用来实现系统编程功能,例如对FLASH 等设备编程。
特殊的在线模拟器指针:TDI、TDO TCK和TMS可以用于LPC2210实现ARM7TDMI接口,它提供了一个完整的低成本的模拟调试方案。
这系统使用一个20针的标准JTAG接口。
E.通信接口电路设计RS485收发器采用平衡发送和微分接待。
也就是说,在发送端将TTL电平信号转换成在差分信号输出;接收器将差分信号转化为TTL水平,因此它有抑制共模干扰的能力。
这个系统选择美国德州仪器公司的SN75LBC184接口芯片RS485设计和开发,它是兼容的微分数据收发器，它符合商业标准,芯片A和B别针与高能瞬变干扰保护装置相连,它可以瞬间承受超过400伏的电压,如闪电、静电放电和交流电。
从而显著提高设备面对瞬态过电压的可靠性,其驱动程序和接受功能表如图所示。
普通的RS485收发器面对过电压很容易损坏，如果我们想要有效地保护它,通常情况下,保护设备,如隔离的变压器是必要的。
如果我们用SN75LBC184,没有任何保护组件下输电线路直接连接,它提供了一个可靠的、低成本的、简单的设计计划。
SN75LBC184整合所有的预防措施在RS485芯片上应对各种故障,包括瞬态电压,电磁干扰,总线断路,热罢工等。
SN75LBC184能有效地抑制瞬态电压，如闪电等。
F.超声波测距电路设计超声波测距模块是一个的精确的电子测量装置,包括一个电子界面模块和两个根据模型选择的超声波传感器。
测距模块提供给原始设备厂商一个输出脉冲，输出脉冲的持续时间与脉冲在传输和接收换能器之间的时间成正比。
锁存器脉冲宽度由额外的电路应用程序处理要求的位置,水平、概要或厚度来决定。
当内部或外部触发时,目标距离最终限制了最大脉冲重复率。
当最大速度为150赫兹时，目标可能还不到一英尺远;参考单个模块说明书进行速率极限限制。
对于内部触发,脉冲重复率限制是通过一个外部设置的电阻器。
IV. 控制系统软件设计A.ARM汇编语言程序结构通常情况下,子程序的调用是ARM汇编语言的BL指令实现的。
当执行的指令时，它们完成以下操作:子程序返回地址保存在连接寄存器LR中,同时,使个人电脑调用子程序入口,当子程序执行完命令返回初始位置时,就复制返回地址为个人电脑存储在LR中。
ARM架构支持C /C++和汇编语言混合编程。
在一个整体的程序设计中,主要的编程任务是用C / C++完成,只有初始化部分是由汇编语言完成的。
当执行程序时,初始化程序首先执行,然后跳转到C / C++程序代码,一般来说,在汇编语言和C / C++程序之间是没有数据的传输。
HEF4094和74HC595是串行输入并行输出的移动寄存器,显然,串口驱动可以应用,但S3C44BOX串口资源有限,这时需要与上位机通信,所以用并行I / O端口建模为一个串行端口的方法来解决上面的问题。