基于粒子群算法的灭火机器人改造
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摘要
机器人技术作为20世纪人类最伟大的发明之一，自60年代初问世以来，经历40余年的发展已取得长足的进步。消防机器人属于特种机器人范畴，它作为特种消防设备可以替代消防队员接近火灾现场实施有效的灭火救援作业，对减少国家财产损失和灭火救援人员的伤亡具有重要的作用。作为某种特定功能的灭火机器人应该具备以下某项或几项行走和自卫功能:爬坡、登梯及障碍物跨越功能，耐温和抗热辐射功能，防雨功能，防爆、隔爆功能，防化学腐蚀功能，防电磁干扰功能，遥控功能等。
本课题以西安科技大学学科群的灭火机器人为平台，对灭火机器人进行硬件和软件的改造升级，以ATmega128作为控制芯片，数传电台和PT2262/PT2272为无线传输模块，实现了无线通讯和自动寻找火源的功能，使灭火机器人在人员安全保障和快速寻找火源方面进行了升级改造。
硬件方面，运用ATmega128单片机为主核心控制芯片，设计了复位电路，JTAG下载电路，晶振电路等外围控制电路，还包括PT2262/PT2272无线传输芯片的外围电路，使无线通信模块实现数据解码、功率放大和信号无线传输等功能。在自动寻找火源方面，本设计采用火焰传感器，通过对火焰发出红外线的采集，对采集到的红外线进行数据分析，分为3个等级，实现火焰传感器对不同火情的采集和处理，通过无线模块返回不同的火灾数据，不同的指示灯和声音报警提示消防人员当时火灾的严重情况。
软件方面，以ICCAVR为开发环境，C语言为编程语言，对无线通信进行优化升级，完成对火焰传感器采集数据的识别分类，实现火焰数据的无线采集分析。ICCAVR是一种符合ANSI标准的C语言开发微控制器MCU程序的一个工具。在此开发环境下，实现了对两线串行接口的TWI寄存器、通用同步和异步串行接收器和转发器的USART寄存器、模数转换器的ADC寄存器的优化设置，采用软硬件结合实现了无线通信与自动寻找火源的功能。
此外，通过粒子群算法对气体压力和体积之间的相应关系的分析，提出了一种灭火机器人寻找火源的新方法，通过与最小二乘算法的比较，该方法具有较高精度，对参数要求较低的优点，为火灾的勘察寻找到了一种全新的方法。
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.
本课题以西安科技大学学科群的灭火机器人为平台，对灭火机器人进行硬件和软件的改造升级，以ATmega128作为控制芯片，数传电台和PT2262/PT2272为无线传输模块，实现了无线通讯和自动寻找火源的功能，使灭火机器人在人员安全保障和快速寻找火源方面进行了升级改造。
硬件方面，运用ATmega128单片机为主核心控制芯片，设计了复位电路，JTAG下载电路，晶振电路等外围控制电路，还包括PT2262/PT2272无线传输芯片的外围电路，使无线通信模块实现数据解码、功率放大和信号无线传输等功能。在自动寻找火源方面，本设计采用火焰传感器，通过对火焰发出红外线的采集，对采集到的红外线进行数据分析，分为3个等级，实现火焰传感器对不同火情的采集和处理，通过无线模块返回不同的火灾数据，不同的指示灯和声音报警提示消防人员当时火灾的严重情况。
软件方面，以ICCAVR为开发环境，C语言为编程语言，对无线通信进行优化升级，完成对火焰传感器采集数据的识别分类，实现火焰数据的无线采集分析。ICCAVR是一种符合ANSI标准的C语言开发微控制器MCU程序的一个工具。在此开发环境下，实现了对两线串行接口的TWI寄存器、通用同步和异步串行接收器和转发器的USART寄存器、模数转换器的ADC寄存器的优化设置，采用软硬件结合实现了无线通信与自动寻找火源的功能。
此外，通过粒子群算法对气体压力和体积之间的相应关系的分析，提出了一种灭火机器人寻找火源的新方法，通过与最小二乘算法的比较，该方法具有较高精度，对参数要求较低的优点，为火灾的勘察寻找到了一种全新的方法。
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.
引文
[1]李海涛,王敏,史凌斌.消防机器人的发展和应用前景[J].第十一届安博会,2007,(11):1-4.
[2]原魁.工业机器人发展现状与趋势[J].MC工厂自动化,2007,(1):34-38.
[3]高瑞霞.美国的灭火与救援机器人研发综述[J].消防技术与产品信息,2005.(3):59-61.
[4] R.F.Riehards,B.N.Murk,O.A.Plumb.Fire Detection,Location and Heat Release RateThrough Inverse Problem Solution Part1[J].Fire Safety Journal,(1997)28, 323-350.
[5] R.F.Riehards,R.T.Ribail,A.W.Bakkom,O.A.Plumb.Fire Detection Location and HeatRelease Rate Through Inverse Problem Solution Part2[J].Fire Safety Journal, (1997)28,357-378.
[6] Yamagishi H,Yamagishi J.Fire Flame Detection Algorithm Using a ColorCame-ra[C].Proceedings of 1999 Internatinonal Symposium on Micromechatronics and HumanScience,1999,255-259.
[7] Yamagishi H,Yamaguchi J.A Coutour Fluctuation Data Processing Method for Fire FlameDetection Using a Color Camera[C].IEEE 26th Annual Conference on IECON of theIndustrial Electronics Society,(2000)2,824-829.
[8]刘浏.基于图像的火焰识别算法的研究[D].西华大学,2008.
[9]卢结成,吴龙标,宋卫国.一种火灾图像探测系统的研究[J].仪器仪表学报,(2001)4,437-44.
[10]杨宏文,唐晓军,刘勇.人工神经网络用于燃烧火焰状态识别的研究[J].工程热物理学报,(1997)18,521-524.
[11]吴龙标,宋卫国.液晶光闸在火灾探测中的应用[J].光学技术,(1997)1,4-6.
[12]CHEN Thou-ho,KAO Chengliang.An Intelligent RealTime FireDetection Method Basedon Video[C].Processings of IEEE 37th Annual 2003 International Carnahan Conference onSecurity Technology,2003,104-111.
[13]Kennedy J, EberhartR C. Particle Swarm Optimization [A]. Proc.IEEE InternationalConference on NeuralNetworks, IV [C]. Piscataway, NJ: IEEE Service Center, 1995.1942-1948.
[14]Eberhart R C, Shi Y. Particle Swarm Optimization:Developments, Applications andResources [A].Proc. Congress on Evolutionary Computation 2001[C]. Piscataway, NJ:IEEE Press, 2001. 81-86.
[15]Kennedy J, EberhartR C. A Discrete Binary Version of the Particle Swarm Algorithm[A].Proceeding of the World Multiconference on Systemics, Cybernetics and Informatics[C].Piscataway, NJ: IEEE Press,1997. 4104-4109.
[16]Angeline P J. Using Selection to Improve Particle Swarm Optimization [A]. Proceedingsof the 1999 Congress on Evolutionary Computation[C]. Piscataway, NJ: IEEE Press,1999. 84-89.
[17]LφvbjergM, RasmussenTK, KrinkT.Hybrid Particle Swarm Optimizer with Breeding andSubpopulations [A].Third Genetic and Evolutionary Computation Conference [C].Piscataway, NJ: IEEE Press,2001.
[18]HigashiN, IbaH. Particle Swarm Optimization with Gaussian Mutation [A]. Proceedingsof the 2003 Congress on Evolutionary Computation[C]. Piscataway, NJ: IEEE Press,2003. 72-79.
[19]高鹰,谢胜利.免疫粒子群优化算法[J].计算机工程与应用. 2004, 40(6): 4-6.
[20]BaskarS,Suganthan PN.A Novel ConcurrentParticle Swarm Optimization[A].of th e 20 04 Co ng re s s on Evo lu ti on a ry Co m pu ta ti o n [C ]. Pi s c a ta w ay, NJ :IEEE Press, 2004. 792-796.
[21]ButhainhAl-Kazem.i MultiPhase Particle Swarm Optimization [D].ComputerEngineering in the Graduate Schoo,SyracuseUniversity,USA, 2002.
[22]EberhartR C, ShiY. EvolvingArtificialNeuralNetworks [A]. Proceeding of InternationalConference onNeuralNetworks and Brain [C].Piscataway, NJ:IEEE Press, 1998. 5-13.
[23]李宁,邹彤,孙德宝.带时间窗车辆路径问题的粒子群算法[J].系统工程理论与实践,2004,24(4): 131-135.
[24]Hu X, Shi Y and EberhartR C. RecentAdvance in Particle Swarm [A]. Proceedings of the2004 Congress on Evolutionary Computation [C]. Piscataway,NJ: IEEE Press, 2004.90-97.
[25]EberhartR C, ShiY. Guest Editorial Special Issue on Particle Swarm Optimization [J].IEEE TRANS ACTION ON EVOLUTIONARY COMPUTATION, 2004,8(3): 201-203.
[26]张亚勇.中国林业科学研究院硕士学位论文[D].2007,32-33.
[27]耿德根.AVR高速嵌入式单片机原理与应用[M].北京:北京航空航天大学出版社，2001,12-45.
[28]丁化成,耿德根,李君凯.AVR单片机应用设计[M].北京:北京航空航天大学出版社,2002,12-45.
[29]马潮.高档8位单片机ATmege128原理与开发应用指南(上)[M].北京:北京航空航天大学出版社,2004,12-45.
[30]于桂君,习重华.基于Atmega128嵌入式控制器的设计[J].测控技术,2004(6)：2384-2386.
[31]见城,尚志。直流伺服电动机[M].上海,上海科学技术文献出版社,1986:22-43.
[32]侯媛彬,汪梅.系统辨识及其MATLAB仿真[M].北京:科学出版社,2004.
[2]原魁.工业机器人发展现状与趋势[J].MC工厂自动化,2007,(1):34-38.
[3]高瑞霞.美国的灭火与救援机器人研发综述[J].消防技术与产品信息,2005.(3):59-61.
[4] R.F.Riehards,B.N.Murk,O.A.Plumb.Fire Detection,Location and Heat Release RateThrough Inverse Problem Solution Part1[J].Fire Safety Journal,(1997)28, 323-350.
[5] R.F.Riehards,R.T.Ribail,A.W.Bakkom,O.A.Plumb.Fire Detection Location and HeatRelease Rate Through Inverse Problem Solution Part2[J].Fire Safety Journal, (1997)28,357-378.
[6] Yamagishi H,Yamagishi J.Fire Flame Detection Algorithm Using a ColorCame-ra[C].Proceedings of 1999 Internatinonal Symposium on Micromechatronics and HumanScience,1999,255-259.
[7] Yamagishi H,Yamaguchi J.A Coutour Fluctuation Data Processing Method for Fire FlameDetection Using a Color Camera[C].IEEE 26th Annual Conference on IECON of theIndustrial Electronics Society,(2000)2,824-829.
[8]刘浏.基于图像的火焰识别算法的研究[D].西华大学,2008.
[9]卢结成,吴龙标,宋卫国.一种火灾图像探测系统的研究[J].仪器仪表学报,(2001)4,437-44.
[10]杨宏文,唐晓军,刘勇.人工神经网络用于燃烧火焰状态识别的研究[J].工程热物理学报,(1997)18,521-524.
[11]吴龙标,宋卫国.液晶光闸在火灾探测中的应用[J].光学技术,(1997)1,4-6.
[12]CHEN Thou-ho,KAO Chengliang.An Intelligent RealTime FireDetection Method Basedon Video[C].Processings of IEEE 37th Annual 2003 International Carnahan Conference onSecurity Technology,2003,104-111.
[13]Kennedy J, EberhartR C. Particle Swarm Optimization [A]. Proc.IEEE InternationalConference on NeuralNetworks, IV [C]. Piscataway, NJ: IEEE Service Center, 1995.1942-1948.
[14]Eberhart R C, Shi Y. Particle Swarm Optimization:Developments, Applications andResources [A].Proc. Congress on Evolutionary Computation 2001[C]. Piscataway, NJ:IEEE Press, 2001. 81-86.
[15]Kennedy J, EberhartR C. A Discrete Binary Version of the Particle Swarm Algorithm[A].Proceeding of the World Multiconference on Systemics, Cybernetics and Informatics[C].Piscataway, NJ: IEEE Press,1997. 4104-4109.
[16]Angeline P J. Using Selection to Improve Particle Swarm Optimization [A]. Proceedingsof the 1999 Congress on Evolutionary Computation[C]. Piscataway, NJ: IEEE Press,1999. 84-89.
[17]LφvbjergM, RasmussenTK, KrinkT.Hybrid Particle Swarm Optimizer with Breeding andSubpopulations [A].Third Genetic and Evolutionary Computation Conference [C].Piscataway, NJ: IEEE Press,2001.
[18]HigashiN, IbaH. Particle Swarm Optimization with Gaussian Mutation [A]. Proceedingsof the 2003 Congress on Evolutionary Computation[C]. Piscataway, NJ: IEEE Press,2003. 72-79.
[19]高鹰,谢胜利.免疫粒子群优化算法[J].计算机工程与应用. 2004, 40(6): 4-6.
[20]BaskarS,Suganthan PN.A Novel ConcurrentParticle Swarm Optimization[A].of th e 20 04 Co ng re s s on Evo lu ti on a ry Co m pu ta ti o n [C ]. Pi s c a ta w ay, NJ :IEEE Press, 2004. 792-796.
[21]ButhainhAl-Kazem.i MultiPhase Particle Swarm Optimization [D].ComputerEngineering in the Graduate Schoo,SyracuseUniversity,USA, 2002.
[22]EberhartR C, ShiY. EvolvingArtificialNeuralNetworks [A]. Proceeding of InternationalConference onNeuralNetworks and Brain [C].Piscataway, NJ:IEEE Press, 1998. 5-13.
[23]李宁,邹彤,孙德宝.带时间窗车辆路径问题的粒子群算法[J].系统工程理论与实践,2004,24(4): 131-135.
[24]Hu X, Shi Y and EberhartR C. RecentAdvance in Particle Swarm [A]. Proceedings of the2004 Congress on Evolutionary Computation [C]. Piscataway,NJ: IEEE Press, 2004.90-97.
[25]EberhartR C, ShiY. Guest Editorial Special Issue on Particle Swarm Optimization [J].IEEE TRANS ACTION ON EVOLUTIONARY COMPUTATION, 2004,8(3): 201-203.
[26]张亚勇.中国林业科学研究院硕士学位论文[D].2007,32-33.
[27]耿德根.AVR高速嵌入式单片机原理与应用[M].北京:北京航空航天大学出版社，2001,12-45.
[28]丁化成,耿德根,李君凯.AVR单片机应用设计[M].北京:北京航空航天大学出版社,2002,12-45.
[29]马潮.高档8位单片机ATmege128原理与开发应用指南(上)[M].北京:北京航空航天大学出版社,2004,12-45.
[30]于桂君,习重华.基于Atmega128嵌入式控制器的设计[J].测控技术,2004(6)：2384-2386.
[31]见城,尚志。直流伺服电动机[M].上海,上海科学技术文献出版社,1986:22-43.
[32]侯媛彬,汪梅.系统辨识及其MATLAB仿真[M].北京:科学出版社,2004.