灭火机器人结构与控制设计（全套图纸）

摘要

面对诸多恶劣的工作环境(如灭火、救援等)，为了有效的避免人员伤亡，就需要采用智能小车去现场来完成相应的任务。因此研究和开发智能小车引导控制系统具有十分重要的意义。本系统采用68HC11单片机作为核心控制芯片，设计制作了一款通过红外光电传感器检测路径信息、红外火焰传感器检测火源的智能寻迹灭火小车。本系统由单片机控制模块、寻迹传感器模块、驱动电机模块、火源传感器模块、风扇模块、电源模块等组成。实际应用表明，该小车可以在专门设计的场地上实现自主发现火源，自主识别路线，自主行进接近火源并灭火，最终完成灭火的任务。

关键词:单片机 ，小车，引导控制 ，传感器 I

柳辉 灭火机器人结构与控制 Abstract

Content: Confronted with so many bad working environment (such as fire fighting, rescue etc), in order to effectively avoid casualties, need to use intelligent go by car scene to complete relevant tasks. Therefore, the research and development of intelligent car guide control system has the extremely vital significance. This system uses 68HC11 as the core control chip, design and make a new electric sensor detection by infrared sensor information, infrared flame path of intelligent tracing test fire extinguishing car. The system is composed of single-chip microcomputer control module, tracing sensor module, drive motor

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module, ignition sensor module, fan module, power supply module. The practical application indicates that the car can be in a specially designed field on fire, to realize the independent found autonomous recognition route, independent sources and marching close to the fire extinguishing, finally complete task.

Keywords: Microcontroller , Car ,Control system, Sensors II

柳辉 灭火机器人结构与控制 目 录 摘

要 ........................................................................... I

Abstract ...................................................................... II

第一章 绪

论 .................................................................. 1

1.1课题来源与意

义................................................................................................................... 1

1.2课题背

景 ................................................................................................................................ 1

1.3课题研究方

法 .....................................................................

2

.................................................. 2 第二章 能力风暴机器人的基本构成 ....................................... 3

2.1外形构

造 ................................................................................................................................ 3

2.2主

板 ......................................................................................................................................... 4

2.3 68HC11的基本知

识 ............................................................................................................ 4

2.4传动结构——齿轮

箱 ......................................................................................................... 5 第三章 方案设计与论证..................................................... 6

3.1总体设计方

案 ....................................................................................................................... 6

3.2小车的制作方案设计与论

证 ............................................................................................ 6

3.3驱动电机模块的选

定 ......................................................................................................... 7

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3.4寻迹传感器模块的选

定 ..................................................................................................... 7

3.5单片机控制模块的选

定 ..................................................................................................... 8

3.6火源传感器模块的选

定 ..................................................................................................... 8

3.7灭火模块的选

定................................................................................................................... 9

3.8电源模块的选

定................................................................................................................... 9

3.9最终方

案 ................................................................................................................................ 9

第四章 灭火控制方案与策

略 .............................................. 11

4.1 灭火场

地 ............................................................................................................................. 11

4

4.2行走方案分析与确

定 ....................................................................................................... 11

4.3火焰定

位 .............................................................................................................................. 13

III

柳辉 灭火机器人结构与控制 4.4传感器的布

置 ..................................................................................................................... 14 第五章 灭火机器人灭火装置及结构设计 ................................. 15

5.1灭火方案的确

定................................................................................................................. 15

5.2水泵灭火装置结构设

计 ................................................................................................... 16

5.3灭火机器人外形设

计 ....................................................................................................... 19 第六章 控制程序设计 ...................................................... 20

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