【正文】 e 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. Key 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) ................................................................................................................ 19 尋火模塊的設(shè)計(jì) ................................................................................................................ 20 避障模塊設(shè)計(jì) ................................................................................................................... 21 顯示模塊的設(shè)計(jì) ................................................................................................................ 21 5 系統(tǒng)的調(diào)試 .......................................................................................................................... 23 硬件的調(diào)試 ....................................................................................................................... 23 軟件調(diào)試 ............................................................................................................................ 23 避障的 實(shí)現(xiàn) ........................................................................................................................ 23 尋找火源的 實(shí)現(xiàn) ............................................................................................................... 24 遇到的問題 ........................................................................................................................ 25 實(shí)驗(yàn)現(xiàn)象與結(jié)果分析 ........................................................................................................ 26 6 實(shí)物展示 ............................................................................................................................... 27 IV 7 結(jié)束語 ....................................................................................................