The Rebuild Of Fire Robot Based On Partlele Swarm Optimization

Robotics is one of the greatest inventions of mankind in the 20th century. It was come outat 1960s, and developed rapidly. A fire robot is one of the special robot species, which wasused as special fire equipment. The fire robot can replace the firefighters to fight fire andrescue something nearing the fire scene. As a fire robot, with special features, it should havewalking functions such as climbing, ladder and spanning barrier; and it should also haveself-defense functions i.e., heat-resistant and anti-thermal radiation functions, anti-rain,explosion-proof, anti-chemical corrosion, anti-electromagnetic interference etc. Moreover, theremote control function is also included.Both of the hardware and the software of the fire robot were rebuilt and upgraded, whichis based on the fire robot which was provided by the discipline groups.The wirelesscommunication and automatically finding the fire source were achieved by using ATmega128as control CMOS chip, data radio and PT2262/PT2272 as wireless transmission module. Then,the performance of fire robot for personnel security and finding fire source rapidly was rebuiltand upgraded.For the hardware, using ATmega128 singlechip as the main core control chip, theexternal control circuit viz. reset circuit,JTAG download circuit and crystal oscillator circuitwere designed. The external control circuit of PT2262/PT2272 wireless transmission chip wasas well as designed, which made the wireless transmission module have data decoding, poweramplifier and wireless signal transmission etc. functions. For automatically finding the firesource, a flame sensor was used to collect and analyze the infrared ray radiated by the flame,which realize the collection and process of different fire data. Finally, the different fire datawas transported by wireless module indicating the fireman the situation of fire disaster bydifferent indicator light and voice. For the software, using ICCAVR as development environment, C language asprogramming language, the wireless communication was upgraded to identify and classify thecollected data of fire sensor realizing collection and analysis of fire data. ICCAVR is a tool todevelop MCU program by using C language which was according to ANSI standard. Underthe development environment of ICCAVR, the TWI register, USART register and ADCregister were optimization settled to realize the combination of wireless communication andautomatically finding fire source hard-soft ware.Moreover,the new method of finding the fire source was established by the relationshipbetween the gas pressure and volume was established by studying Particle SwarmOptimization(PSO). Compared with least squares algorithm, the PSO, which had advantagesof higher accuracy and minor parameters requirements, provided a bran-new method for firereconnaissance.