【正文】 methods ................................................. 3 .............................................................. 4 . ......................................................... 4 緒論 ....................................................................... 5 ................................. 5 ........................................... 6 ............................................................. 6 論文主體 ................................................................... 7 一．設(shè)計方案的確定 ......................................................... 7 系統(tǒng)設(shè)計及方案 ...................................................... 7 整體方案設(shè)計 ........................................................ 7 ............................................................. 8 MCU 的選擇 ......................................................... 8 電機選擇 .......................................................... 9 傳感器的選擇 ...................................................... 10 電機驅(qū)動電路方案選擇 ............................................... 12 電源模塊 ........................................................... 13 硬件總體設(shè)計方案 .................................................. 13 軟件總體設(shè)計方案 .................................................. 14 .................................................... 14 電源電路 ...................................................... 14 單片機暑期培訓 (實訓項目 )報告紙 2 / 56 微控制器模塊的設(shè)計 ............................................ 15 STC89C52RC 單片機介紹 ........................................ 15 傳感器電路的設(shè)計 .................................................. 19 火焰?zhèn)鞲须娐返脑O(shè)計 ................................................ 20 滅火驅(qū)動電路 ..................................................... 21 藍 牙模塊電路 ....................................................... 22 .......................................................... 25 軟件開發(fā)平臺介紹 ，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 功能測試 ......................................................... 29 驅(qū)動電路部分 ................................................ 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 ........................................................... 33 附錄 2 電路圖 ......................................................... 35 附錄 3 程序 ............................................................ 37 附件 4：學科技能 CDIO 項目申報書 ........................................ 46 單片機暑期培訓 (實訓項目 )報告紙 1 / 56 中文摘要 本次設(shè)計 CPU 采用 Atmel公司 STC 系列單片機中的 89C52RC，完成的是暑期單片機培訓結(jié)束后的實習項目。完成的作品基本功能要求是在規(guī)定時間內(nèi)找出限定場地 內(nèi)的火源，從而采取滅火動作，同時用液晶顯示屏顯示小車的執(zhí)行任務(wù)，使得我們對小車的運行狀況有一個更好的了解。從而引發(fā)了我組成員在單片機暑期培訓之后產(chǎn)生設(shè)計智能滅火小車的設(shè)想。 二 .研究方法 小車以 STC89C52RC 型單片機為核心，加以電源電路、電機驅(qū)動、超聲波傳感電路、火焰檢測電路、滅火風扇以及其它電路構(gòu)成。本論文進行整體的硬件設(shè)計，并編寫了軟件程序框圖，制作的滅火小車具有簡易滅火 功能，達到了實現(xiàn)現(xiàn)場滅火的目的，設(shè)計較好地完成了課題目標。所做工作和確定的成果如下： 以單片機 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，包括供電模塊、單片機系統(tǒng)、尋跡系統(tǒng)、電機驅(qū)動系統(tǒng)、火焰檢測系統(tǒng)以及滅火系統(tǒng)和各個模塊間接口。 完成主要功能模塊的調(diào)試軟件設(shè)計，分別完成對各個功能模塊的調(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 單片機暑期培訓 (實訓項目 )報告紙 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，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，滅火機器人研究被提到了議事日程。 從二十世紀八十年代開始，世界許多國家都進行了滅火機器人的研究，美國和蘇聯(lián)最早進行滅火機器人的研究，而后日本、英國、法國等國家都紛紛開展了滅火機器