基于火焰传感器的灭火机器人.doc

目 录

摘要................................................................................................................IV

ABSTRACT ....................................................................................................V

第 1 章 绪论 .................................................................................................1

1.1 机器人的发展概述....................................................................................1

1.2 基于火焰传感器的灭火机器人概述........................................................1

1.2.1 国外现状.................................................................................................................1

1.2.2 国内现状.................................................................................................................1

1.3 本课题的目标及内容................................................................................2

2.2.1 灭火机器人.............................................................................................................4

2.2.2 设计内容.................................................................................................................4

2.3 总体设计方案............................................................................................5

2.4 小车的方案设计与论证............................................................................6

2.5 各模块的选定............................................................................................6

2.5.1 驱动电机模块的选定.............................................................................................6

2.5.2 避障模块的选定.....................................................................................................7

2.5.3 火焰传感器模块的选定.........................................................................................7

2.5.4 水泵模块的选定.....................................................................................................8

2.5.5 电源模块的选定.....................................................................................................8

3.2.2 元器件的选择.......................................................................................................11

3.2.3 小车底盘的选择...................................................................................................12

3.3 灭火机器人的硬件组成..........................................................................13

3.3.1 火焰传感器模块...................................................................................................13

3.3.2 报警模块...............................................................................................................14

3.3.3 避障模块...............................................................................................................15

3.3.4 稳压芯片模块.......................................................................................................16

3.3.5 光电耦合电路模块...............................................................................................16

3.3.6 水泵电机驱动模块...............................................................................................18

3.3.7 测速模块...............................................................................................................19

3.6 电源电路..................................................................................................26

3.6.1 3.3V 电源方案 .........................................................................................................26

3.6.2 5V 电源系统 .............................................................................................................27

3.6.3 电源监控...............................................................................................................27

3.7 灭火机器人整体设计..............................................................................28

3.7.1 整体结构...............................................................................................................28

3.7.2 CPU 引脚的设定 .......................................................................................................28

4.2.2 小车避障模块程序软件流程图...........................................................................30

4.2.3 火源模块程序软件流程图...................................................................................31

4.3 液晶显示的编程......................................................................................32

4.3.1 SPI 总线工作原理 ...................................................................................................32

4.3.2 液晶编程...............................................................................................................33

第 5 章 系统实现 .......................................................................................34

第 6 章 总结 ...............................................................................................35

参考文献 ........................................................................................................36

本作品使用 C8051F320 单片机内部产生双路 PWM 波，控制小车的直流电动机，利用光

电开关管探测障碍物，使得小车能够避开障碍，利用火焰传感器探测火源，找到火源，进

而使单片机控制水泵电路并做出灭火动作。同时使用液晶显示小车速度，使得我们对小车

的运行状态有一个更好的了解。

关键词: C8051F320 ，火焰传感器 ，光电开关 ，PWM， 液晶

Based on the flame of the fire fighting robot sensor

Abstract

C8051F320.The basic function of the design requires the robot find fire as soon as possible in the

stipulated field, and then within the shortest possible time to make fire fighting action.