【智能制造】基于单片机的灭火机器人模型的设
计
常 州 大 学 毕业设计（论文） （2013届） 题 目 基于单片机的灭火机器人模型的设计 学 生 学 院 信息科学和工程学院 专 业 班 级 校内指导教师 专业技术职务 校外指导老师 专业技术职务
二○一三年六月
基于单片机的灭火机器人模型的设计
摘 要:该文设计了一款基于单片机的灭火机器人模型的设计。系统以STC89C52单片
机为控制核心，创新自制火焰传感器用于火焰探测，红外光电传感器用于探测障碍物，L298驱动电机前后转动，LCD1602液晶显示器用于显示灭火个数。
该系统火焰探测采用自制六路火焰传感器，是由五路远红外接收二极管和一路近红外接收二极管构成，它相对于目前其他火焰探测器，具有火焰探测精确度高、结构简单，性能可靠等优点。避障采用E18-D50NK型号的光电传感器，该传感器具有探测距离远、受可见光干扰小、价格便宜、易于装配、使用方便等特点。此设计以数字集成电路技术为基础且以单片机技术为核心，依据传感器的信号传入单片机实现各种指令处理。系统加入液晶显示器，使得系统具有可查见灭火的次数的人性化特点。
实验结果表明，该设计具有成本低、可靠性高、灭火速度快、安装调试方便等特征，非常适用于危险系数较大的火场，具有较好的应用前景。
关键词：STC89C52单片机、光敏晶体管、红外光电开关、1602液晶模块、L298N
I
DESIGN OF THE FIREFIGHTING ROBOT BASED ON THE
MICROCONTROLLER
ABSTRACT :In this paper, the design model for the design of a
microcontroller-based
fire-fighting
robot.
System
to
STC89C52RC
microcontroller for control core, innovation homemade flame sensor is used to measure the source of fire, use infrared receiverdiode to detect the roadblock ,the L298 drive motor rotation LCD1602 display the number of fires which are put out.
The system use six innovation homemade flame sensors which consist of five remote Infrared receiverdiodes and one close Infrared receiverdiode to measure the source of fire,which compare 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, etc.This design is based on digital integrated circuit technology and single-chip microcomputer 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 user-friendly 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
II
目录
摘要 ................................................................................................................................................... I 目录 ................................................................................................................................................. III 1引 言 .......................................................................................................................................... 1 1.1 课题的开发背景 ................................................................................................................... 1 1.2课题的研究现状 ...................................................................................................................... 1 1.3 课题的研究意义 ................................................................................................................... 1 1.4 课题任务 ............................................................................................................................... 2 2系统基本原理和总体方案设计 ................................................................................................ 3 2.1灭火机器人的基本原理 ......................................................................................................... 3 2.2灭火机器人的整体设计 ......................................................................................................... 3 2.3灭火机器人模型的测量方案 ................................................................................................. 4 2.3.1避障模块 ............................................................................................................................... 4 2.3.2 火焰检测方案...................................................................................................................... 5 3系统硬件电路设计 ..................................................................................................................... 7 3.1控制电路 .................................................................................................................................. 7 3.1.1电机控制电路 ....................................................................................................................... 7 3.1.2灭火驱动电路 ....................................................................................................................... 8 3.2火焰测量电路 .......................................................................................................................... 9 3.3避障模块 ................................................................................................................................ 10 3.4液晶显示模块 ........................................................................................................................ 11 3.5 直流电源设计 ....................................................................................................................... 12 3.6单片机系统 ............................................................................................................................ 13 3.6.1单片机选型 ......................................................................................................................... 13 3.6.2单片机晶振电路和复位电路 ............................................................................................ 15 4 软件设计 ................................................................................................................................... 16 4.1系统主程序设计 .................................................................................................................... 16 4.2寻火模块的设计 .................................................................................................................... 17 4.3 避障模块设计 ....................................................................................................................... 17 4.4显示模块的设计 .................................................................................................................... 17 5 系统的调试 ............................................................................................................................... 19 5.1 硬件的调试 ........................................................................................................................... 19 5.2软件调试 ................................................................................................................................ 19
III
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