【正文】 常 州 大 學(xué) 畢業(yè)設(shè)計(jì)（論文） （ 2020 屆） 題 目 基于單片機(jī)的滅火機(jī)器人模型的設(shè)計(jì) 學(xué) 生 學(xué) 院 信息科學(xué)與工程學(xué)院 專 業(yè) 班 級(jí) 校內(nèi)指導(dǎo)教師 專業(yè)技術(shù)職務(wù) 校外指導(dǎo)老師 專業(yè)技術(shù)職務(wù) 二 ○ 一三 年 六 月 I 基于單片機(jī)的滅火機(jī)器人模型的設(shè)計(jì) 摘 要 :該文設(shè)計(jì)了一款基于單片機(jī)的滅火機(jī)器人模型的設(shè)計(jì) 。系統(tǒng)以 STC89C52 單片機(jī)為控制核心，創(chuàng)新自制火焰?zhèn)鞲衅饔糜诨鹧嫣綔y(cè)，紅外光電傳感器用于探測(cè)障礙物， L298驅(qū)動(dòng)電機(jī)前后轉(zhuǎn)動(dòng) ， LCD1602 液晶顯示器用于顯示滅火個(gè)數(shù)。 該系統(tǒng)火焰 探測(cè)采用自制六路火焰?zhèn)鞲衅?，是由五路遠(yuǎn)紅外接收二極管和一路近紅外接收二極管構(gòu)成，它相對(duì)于目前其他火焰探測(cè)器，具有火焰探測(cè)精確度高、結(jié)構(gòu)簡(jiǎn)單，性能可靠等優(yōu)點(diǎn)。避障采用 E18D50NK 型號(hào)的光電傳感器，該傳感器具有探測(cè)距離遠(yuǎn)、受可見光干擾小、價(jià)格便宜、易于裝配、使用方便等特點(diǎn)。 此設(shè)計(jì)以數(shù)字集成電路技術(shù)為基礎(chǔ)并以單片機(jī)技術(shù)為核心 ， 依據(jù)傳感器的信號(hào)傳入單片機(jī)實(shí)現(xiàn)各種指令處理。系統(tǒng)加入液晶顯示器，使得系統(tǒng) 具有可 查看滅火的次數(shù)的人性化特點(diǎn)。 實(shí)驗(yàn)結(jié)果表明，該設(shè)計(jì)具有成本低、可靠性高、滅火速度快、安裝調(diào)試方便等 特征，非常適用于危險(xiǎn)系數(shù)較大的火場(chǎng)，具有較好的應(yīng)用前景。 關(guān)鍵詞 ： STC89C52 單片機(jī)、光敏晶體管、紅外光電開關(guān)、 1602 液晶模塊、 L298N II DESIGN OF THE FIREFIGHTING ROBOT BASED ON THE MICROCONTROLLER ABSTRACT :In this paper, the design model for the design of a microcontrollerbased firefighting robot. System to STC89C52RC microcontroller for control core, innovation homemade flame sensor is used to measure the source of fire, use infrared receiverdiode to detect the roadblock ,the L298 drive motor rotation LCD1602 display the number of fires which are put out. The system use six innovation homemade flame sensors which consist of five remote Infrared receiverdiodes and one close Infrared receiverdiode to measure the source of fire,which pare other measurements with high precision, simple structure, reliable performance characteristics. Obstacle avoidance uses the E18 D50NK models of photoelectric sensor, the sensor has a long detection distance, small interference by visible light, the price is cheap, easy to assemble and convenient use, design is based on digital integrated circuit technology and singlechip microputer technology as the core, according to the sensor signal to microcontroller processing all kinds of instructions. Add liquid crystal display, making the system in extinguishing View extinguishing the number of userfriendly features. The experimental results show that the design of low cost, high reliability, fire fast, easy installation features, very suitable for large fire risk coefficient, has a good application prospect. Ke y words: STC89C52 microcontroller, photosensitive transistor, infrared photoelectric switch, 1602 LCD module, L298N III 目錄 摘要 ............................................................................................................................................. I 目錄 ........................................................................................................................................... III 1 引 言 ..................................................................................................................................... 1 課題的 開發(fā)背景 ............................................................................................................... 1 課題的研究現(xiàn)狀 .................................................................................................................. 1 課題的研究意義 ............................................................................................................... 1 課題任務(wù) ........................................................................................................................... 2 2 系統(tǒng) 基本原理 與總體 方案設(shè)計(jì) ............................................................................................. 3 滅火機(jī)器人的基本原理 ...................................................................................................... 3 滅火機(jī)器人的整體設(shè)計(jì) ...................................................................................................... 3 滅火機(jī)器人模型的測(cè)量方案 .............................................................................................. 4 避障模塊 ........................................................................................................................... 4 火焰檢測(cè)方案 .................................................................................................................. 5 3 系統(tǒng)硬件電路設(shè)計(jì) ................................................................................................................. 7 控制電路 .............................................................................................................................. 7 電機(jī)控制電路 ................................................................................................................... 7 滅火驅(qū)動(dòng)電路 ................................................................................................................... 8 火焰測(cè)量電路 ...................................................................................................................... 9 避障模塊 .............................................................................................................................11 液晶顯示模塊 .................................................................................................................... 13 直流電源設(shè)計(jì) ................................................................................................................... 15 單片機(jī)系統(tǒng) ........................................................................................................................ 15 單片機(jī)選型 ..................................................................................................................... 15 單片機(jī)晶振電路和復(fù)位電路 ......................................................................................... 18 4 軟件設(shè)計(jì) .............................................................................................................................. 18 系統(tǒng)主程序設(shè)計(jì) ................................................................................................