【正文】 methods ................................................. 3 .............................................................. 4 . ......................................................... 4 緒論 ....................................................................... 5 ................................. 5 ........................................... 6 ............................................................. 6 論文主體 ................................................................... 7 一．設(shè)計(jì)方案的確定 ......................................................... 7 系統(tǒng)設(shè)計(jì)及方案 ...................................................... 7 整體方案設(shè)計(jì) ........................................................ 7 ............................................................. 8 MCU 的選擇 ......................................................... 8 電機(jī)選擇 .......................................................... 9 傳感器的選擇 ...................................................... 10 電機(jī)驅(qū)動(dòng)電路方案選擇 ............................................... 12 電源模塊 ........................................................... 13 硬件總體設(shè)計(jì)方案 .................................................. 13 軟件總體設(shè)計(jì)方案 .................................................. 14 .................................................... 14 電源電路 ...................................................... 14 單片機(jī)暑期培訓(xùn) (實(shí)訓(xùn)項(xiàng)目 )報(bào)告紙 2 / 56 微控制器模塊的設(shè)計(jì) ............................................ 15 STC89C52RC 單片機(jī)介紹 ........................................ 15 傳感器電路的設(shè)計(jì) .................................................. 19 火焰?zhèn)鞲须娐返脑O(shè)計(jì) ................................................ 20 滅火驅(qū)動(dòng)電路 ..................................................... 21 藍(lán) 牙模塊電路 ....................................................... 22 .......................................................... 25 軟件開發(fā)平臺(tái)介紹 ，編譯語言及編譯環(huán)境的選擇 ........................ 25 匯編語言概述 ................................................. 25 C 語言概述 ................................................... 25 編譯語言及編譯環(huán)境綜述 ....................................... 26 主程序流程圖 ..................................................... 27 尋跡程序流程圖 ................................................... 27 .................................................. 29 功能測(cè)試 ......................................................... 29 驅(qū)動(dòng)電路部分 ................................................ 29 尋跡部分 .................................................... 29 滅火效果部分 ................................................ 29 調(diào)試心得 ......................................................... 29 .................................................................... 31 致謝 ...................................................................... 32 附錄 ...................................................................... 33 附錄 1 主要元器件清單 ................................................. 34 參 考 文 獻(xiàn) ........................................................... 33 附錄 2 電路圖 ......................................................... 35 附錄 3 程序 ............................................................ 37 附件 4：學(xué)科技能 CDIO 項(xiàng)目申報(bào)書 ........................................ 46 單片機(jī)暑期培訓(xùn) (實(shí)訓(xùn)項(xiàng)目 )報(bào)告紙 1 / 56 中文摘要 本次設(shè)計(jì) CPU 采用 Atmel公司 STC 系列單片機(jī)中的 89C52RC，完成的是暑期單片機(jī)培訓(xùn)結(jié)束后的實(shí)習(xí)項(xiàng)目。完成的作品基本功能要求是在規(guī)定時(shí)間內(nèi)找出限定場(chǎng)地 內(nèi)的火源，從而采取滅火動(dòng)作，同時(shí)用液晶顯示屏顯示小車的執(zhí)行任務(wù)，使得我們對(duì)小車的運(yùn)行狀況有一個(gè)更好的了解。從而引發(fā)了我組成員在單片機(jī)暑期培訓(xùn)之后產(chǎn)生設(shè)計(jì)智能滅火小車的設(shè)想。 二 .研究方法 小車以 STC89C52RC 型單片機(jī)為核心，加以電源電路、電機(jī)驅(qū)動(dòng)、超聲波傳感電路、火焰檢測(cè)電路、滅火風(fēng)扇以及其它電路構(gòu)成。本論文進(jìn)行整體的硬件設(shè)計(jì)，并編寫了軟件程序框圖，制作的滅火小車具有簡(jiǎn)易滅火 功能，達(dá)到了實(shí)現(xiàn)現(xiàn)場(chǎng)滅火的目的，設(shè)計(jì)較好地完成了課題目標(biāo)。所做工作和確定的成果如下： 以單片機(jī) STC89C52RC 為核心擬定了系統(tǒng)組成方案，完成了系統(tǒng)的電路硬件總體設(shè)計(jì)，包括供電模塊、單片機(jī)系統(tǒng)、尋跡系統(tǒng)、電機(jī)驅(qū)動(dòng)系統(tǒng)、火焰檢測(cè)系統(tǒng)以及滅火系統(tǒng)和各個(gè)模塊間接口。 完成主要功能模塊的調(diào)試軟件設(shè)計(jì)，分別完成對(duì)各個(gè)功能模塊的調(diào)試工作。 English Abstract The design of Atmel pany on STC series singlechip microputer CPU 89 c52rc, is pleted after the summer SCM training internship programs. Complete works of basic functional requirements are within the prescribed period of time to find a qualified field source, thus taking fire fighting action, with 單片機(jī)暑期培訓(xùn) (實(shí)訓(xùn)項(xiàng)目 )報(bào)告紙 3 / 56 LCD display shows the car perform tasks at the same time, makes the operation condition of the car we have a better understanding. A. Work purposes 1. Integration with almost perfect eight central processing unit 2. Instruction system is almost perfect 3. The main ponents of a microputer integrated on a chip, greatly shrink short transmission distance, higher reliability, puting speed is faster 4. With small volume, low power consumption, strong control function, flexible extension, miniaturization, and convenient use, etc, are widely used and instrumentation, and more powerful functions than electronic or digital circuit Therefore, firefighting robot based on single chip design also has the important theoretical and practical significance, can make oneself in learned much knowledge and practice ability to plete the process. Raising my group members on the single chip microputer after the summer training design idea of intelligent fire extinguishing the car. The car can react after the fire source to produce, can use ultrasonic sensor obstacle avoidance, using sensor identification of flame fire and make a fire. research methods Car type STC89C52RC MCU as the core, to the power supply circuit, motor drive, ultrasonic sensing circuit, fire detection, fire fans, and other circuit. Work required by the system power source to provide power supply circuit, ultrasonic obstacle avoidance, infrared sensor for fire source position, the flame sensor identification don39。由于這些建筑的特殊性，發(fā)生火災(zāi)時(shí)，不能快速高效的滅火。為了解決這一問題，盡快救助火災(zāi)中的受害者，最大限度的保證消防人員的安全，滅火機(jī)器人研究被提到了議事日程。 從二十世紀(jì)八十年代開始，世界許多國(guó)家都進(jìn)行了滅火機(jī)器人的研究，美國(guó)和蘇聯(lián)最早進(jìn)行滅火機(jī)器人的研究，而后日本、英國(guó)、法國(guó)等國(guó)家都紛紛開展了滅火機(jī)器