體系電源部門

體系采取(qu)單(dan)電(dian)(dian)(dian)(dian)源供電(dian)(dian)(dian)(dian)電(dian)(dian)(dian)(dian)路時(shi)比較簡(jian)單(dan)，可(ke)是思量到(dao)電(dian)(dian)(dian)(dian)動(dong)機(ji)(ji)起動(dong)霎時(shi)電(dian)(dian)(dian)(dian)流(liu)很(hen)大(da)，會形成電(dian)(dian)(dian)(dian)源電(dian)(dian)(dian)(dian)壓沒有穩(wen)，影響單(dan)片機(ji)(ji)跟輸入電(dian)(dian)(dian)(dian)路事情的穩(wen)定性跟可(ke)靠性，是以采取(qu)雙電(dian)(dian)(dian)(dian)源供電(dian)(dian)(dian)(dian)計(ji)劃(hua)。將機(ji)(ji)電(dian)(dian)(dian)(dian)電(dian)(dian)(dian)(dian)源跟單(dan)片機(ji)(ji)電(dian)(dian)(dian)(dian)源完整斷絕。單(dan)片機(ji)(ji)和傳感器電(dian)(dian)(dian)(dian)路利(li)用(yong)8V供電(dian)(dian)(dian)(dian)，電(dian)(dian)(dian)(dian)動(dong)機(ji)(ji)利(li)用(yong)12V供電(dian)(dian)(dian)(dian)。進(jin)步(bu)電(dian)(dian)(dian)(dian)動(dong)機(ji)(ji)的供電(dian)(dian)(dian)(dian)電(dian)(dian)(dian)(dian)壓，可(ke)以進(jin)步(bu)機(ji)(ji)器人(ren)的運轉速(su)率，從而(er)可(ke)以進(jin)步(bu)滅(mie)火(huo)的結果。

機電驅動部門

機(ji)(ji)(ji)器(qi)人須要(yao)節制正(zheng)(zheng)在(zai)(zai)一(yi)個適合的(de)(de)(de)速(su)率(lv)行(xing)駛(shi)，正(zheng)(zheng)在(zai)(zai)滅火(huo)的(de)(de)(de)進(jin)程中既(ji)要(yao)以(yi)較快的(de)(de)(de)速(su)率(lv)找到(dao)火(huo)源(yuan)，又要(yao)防備由(you)(you)于(yu)碰撞(zhuang)而影響角逐的(de)(de)(de)結(jie)果(guo)。小車的(de)(de)(de)速(su)率(lv)是(shi)(shi)由(you)(you)兩(liang)只直流(liu)電(dian)(dian)機(ji)(ji)(ji)節制。L298驅動(dong)(dong)芯(xin)片(pian)(pian)是(shi)(shi)性能優越的(de)(de)(de)小型直流(liu)電(dian)(dian)機(ji)(ji)(ji)驅動(dong)(dong)芯(xin)片(pian)(pian)之(zhi)一(yi)。它可(ke)(ke)(ke)被用來驅動(dong)(dong)兩(liang)個直流(liu)電(dian)(dian)機(ji)(ji)(ji)或許(xu)是(shi)(shi)單(dan)極性步進(jin)機(ji)(ji)(ji)電(dian)(dian)。正(zheng)(zheng)在(zai)(zai)6—46V的(de)(de)(de)電(dian)(dian)壓(ya)下，可(ke)(ke)(ke)以(yi)供給2A的(de)(de)(de)額定電(dian)(dian)流(liu)。L298另有過(guo)熱(re)自動(dong)(dong)關斷功用，并有反應電(dian)(dian)流(liu)檢測功用。為保障L298畸形(xing)事(shi)情，發起加(jia)裝(zhuang)片(pian)(pian)外(wai)續(xu)流(liu)二極管。由(you)(you)ATmega32單(dan)片(pian)(pian)機(ji)(ji)(ji)間接(jie)輸出兩(liang)路(lu)PWM驅動(dong)(dong)L298N。轉變(bian)(bian)PWM調制脈沖(chong)(chong)(chong)占空比，可(ke)(ke)(ke)以(yi)實現正(zheng)(zheng)確(que)調速(su)。脈沖(chong)(chong)(chong)頻次對(dui)機(ji)(ji)(ji)電(dian)(dian)轉速(su)有影響，脈沖(chong)(chong)(chong)頻次下連(lian)續(xu)性好，但帶負載能力差;脈沖(chong)(chong)(chong)頻次低則反之(zhi)。經由(you)(you)過(guo)程PD2跟(gen)PD3兩(liang)根(gen)I/O口線去節制機(ji)(ji)(ji)電(dian)(dian)的(de)(de)(de)遷移轉變(bian)(bian)標(biao)的(de)(de)(de)目的(de)(de)(de)。

傳感器部門

滅火(huo)角逐(zhu)須要(yao)機器人正(zheng)在盡量(liang)沒(mei)有碰撞墻(qiang)壁的(de)根底上盡量(liang)快地找(zhao)到(dao)燭炬(ju)并(bing)將(jiang)水(shui)滅掉。正(zheng)在實現使(shi)(shi)命的(de)進程(cheng)中(zhong)(zhong)起首須要(yao)沒(mei)有碰撞墻(qiang)壁，然后須要(yao)斷定后方是(shi)不(bu)是(shi)有火(huo)焰(yan)。正(zheng)在找(zhao)到(dao)火(huo)焰(yan)后須要(yao)斷定燭炬(ju)中(zhong)(zhong)間的(de)白線。若是(shi)碰撞墻(qiang)壁的(de)話，須要(yao)機器人能檢測出來并(bing)停止(zhi)處(chu)置懲罰(fa)，否則便(bian)會產生機器人卡死的(de)環境，那便(bian)不(bu)克不(bu)及實現任(ren)何使(shi)(shi)命。

圖5所(suo)示為(wei)(wei)紅(hong)外(wai)(wai)(wai)傳感器的(de)(de)發(fa)射(she)(she)跟吸收(shou)電(dian)(dian)(dian)路。紅(hong)外(wai)(wai)(wai)射(she)(she)管采取脈寬調制驅動(dong)，事情正(zheng)在(zai)38KHz的(de)(de)頻次下，削減發(fa)射(she)(she)電(dian)(dian)(dian)路的(de)(de)功耗。脈沖(chong)發(fa)生器由NE555組成(cheng)，經由過程內部(bu)的(de)(de)電(dian)(dian)(dian)位器R1去(qu)調節(jie)占(zhan)空比(bi)跟脈沖(chong)頻次，因為(wei)(wei)紅(hong)外(wai)(wai)(wai)肉眼沒有可(ke)見(jian)，以(yi)是電(dian)(dian)(dian)路中(zhong)參加一個LED指示燈去(qu)唆使(shi)紅(hong)外(wai)(wai)(wai)發(fa)射(she)(she)管是不(bu)是正(zheng)在(zai)事情。該LED跟紅(hong)外(wai)(wai)(wai)發(fa)射(she)(she)管串連，當紅(hong)外(wai)(wai)(wai)發(fa)射(she)(she)管畸形事情時，該LED燈會點(dian)亮。吸收(shou)電(dian)(dian)(dian)路采取西(xi)門(men)子公司出產的(de)(de)紅(hong)外(wai)(wai)(wai)公用集成(cheng)吸收(shou)芯片SFH506-38，它只(zhi)有吸收(shou)到(dao)38KHZ的(de)(de)脈沖(chong)波(bo)時才會作(zuo)用。它外(wai)(wai)(wai)部(bu)集成(cheng)了(le)選項、濾(lv)波(bo)、縮小電(dian)(dian)(dian)路，對(dui)外(wai)(wai)(wai)只(zhi)有3個引腳：①腳為(wei)(wei)旌旗燈號輸出端(duan);②腳為(wei)(wei)接地端(duan);③腳為(wei)(wei)電(dian)(dian)(dian)源端(duan)，以(yi)是利(li)用起來十分便利(li)，后果比(bi)力幻想。

灰(hui)度(du)傳(chuan)感(gan)器(qi)是模擬傳(chuan)感(gan)器(qi)，有一只發光(guang)二(er)極管跟一只光(guang)敏電阻(zu)，裝置(zhi)正在(zai)統一面上。灰(hui)度(du)傳(chuan)感(gan)器(qi)應用分歧(qi)顏色的檢(jian)測面臨光(guang)的反射水平(ping)分歧(qi)，光(guang)敏電阻(zu)對分歧(qi)檢(jian)測里前往的光(guang)其阻(zu)值也分歧(qi)的原(yuan)理停止顏色深淺檢(jian)測。

火(huo)焰(yan)(yan)(yan)傳(chuan)感(gan)(gan)器(qi)(qi)是模擬傳(chuan)感(gan)(gan)器(qi)(qi)。它應用(yong)(yong)紅外(wai)(wai)敏感(gan)(gan)型元(yuan)件對紅外(wai)(wai)信號(hao)強度(du)(du)(du)的(de)檢(jian)測(ce)并將其(qi)(qi)轉(zhuan)換為機器(qi)(qi)人可(ke)以辨認(ren)的(de)旌旗燈號(hao)，從(cong)而(er)去檢(jian)測(ce)火(huo)焰(yan)(yan)(yan)旌旗燈號(hao)。火(huo)焰(yan)(yan)(yan)傳(chuan)感(gan)(gan)器(qi)(qi)可(ke)以用(yong)(yong)來探測(ce)波長正在700nm~1000nm規模內(nei)的(de)紅外(wai)(wai)線(xian)，探測(ce)角度(du)(du)(du)為60o;，此(ci)中紅外(wai)(wai)線(xian)波長正在880nm四(si)周時(shi)，其(qi)(qi)靈敏度(du)(du)(du)到(dao)達最大。碰(peng)撞(zhuang)(zhuang)傳(chuan)感(gan)(gan)器(qi)(qi)利用(yong)(yong)碰(peng)撞(zhuang)(zhuang)開關，經由過程I/O心可(ke)間接作(zuo)為數字量輸入。

LCD顯現及其它電路

液晶(jing)顯示器(qi)以其(qi)微(wei)功耗(hao)、體積小(xiao)、顯現內(nei)容豐(feng)碩(shuo)、超薄輕便的(de)(de)諸多優點，正在袖珍式儀(yi)表跟低功耗(hao)使(shi)(shi)用(yong)體系中失掉愈來愈普(pu)遍(bian)的(de)(de)使(shi)(shi)用(yong)。這里(li)采取(qu)2止(zhi)16個(ge)字(zi)的(de)(de)DM-162液晶(jing)模(mo)塊，經由(you)過程與(yu)單片機毗(pi)鄰、編程，實現顯現功用(yong)。

本(ben)體系中(zhong)采(cai)取了US-100超聲波測距模(mo)(mo)(mo)塊(kuai)(kuai)，可(ke)實現2cm~4.5m的(de)非打仗測距功(gong)(gong)用(yong)(yong)，擁有2.4~5.5V的(de)寬電壓(ya)輸入(ru)規模(mo)(mo)(mo)，靜態功(gong)(gong)耗低于2mA，自帶(dai)溫度傳感器(qi)對測距成果停止校訂，同時(shi)存在(zai)(zai)(zai)GPIO，串(chuan)口等多種通訊方(fang)法，內帶(dai)看門(men)狗，事情不(bu)變(bian)靠得住。遙控可(ke)以(yi)使機(ji)器(qi)人的(de)操縱加倍便(bian)利，本(ben)體系中(zhong)要(yao)經由過程(cheng)智能(neng)(neng)手(shou)機(ji)遙控機(ji)器(qi)人，而智能(neng)(neng)手(shou)機(ji)的(de)旌旗燈號(hao)恰是經由過程(cheng)藍(lan)牙收(shou)回，是以(yi)只(zhi)(zhi)(zhi)需正在(zai)(zai)(zai)機(ji)器(qi)人上裝置藍(lan)牙模(mo)(mo)(mo)塊(kuai)(kuai)。因(yin)為機(ji)器(qi)人只(zhi)(zhi)(zhi)接(jie)管數(shu)據，沒(mei)有發送(song)數(shu)據，以(yi)是只(zhi)(zhi)(zhi)需藍(lan)牙的(de)從(cong)機(ji)模(mo)(mo)(mo)塊(kuai)(kuai)便(bian)可(ke)。采(cai)取了型號(hao)為HC-06的(de)藍(lan)牙模(mo)(mo)(mo)塊(kuai)(kuai)，此中(zhong)編號(hao)06便(bian)默示(shi)其為從(cong)機(ji)模(mo)(mo)(mo)塊(kuai)(kuai)，正在(zai)(zai)(zai)藍(lan)牙模(mo)(mo)(mo)塊(kuai)(kuai)的(de)定名(ming)劃定規矩中(zhong)偶數(shu)定名(ming)的(de)型號(hao)出(chu)廠時(shi)便(bian)肯定了從(cong)機(ji)，并沒(mei)法變(bian)動。用(yong)(yong)戶沒(mei)有可(ke)以(yi)本(ben)人切換(huan)主機(ji)或許從(cong)機(ji)，用(yong)(yong)戶可(ke)以(yi)空過AT指令集對藍(lan)牙模(mo)(mo)(mo)塊(kuai)(kuai)停止設置，AT指令集較少，包羅(luo)點(dian)竄藍(lan)牙名(ming)，點(dian)竄暗(an)碼，點(dian)竄波特率，扣問版本(ben)號(hao)等幾個(ge)基本(ben)功(gong)(gong)能(neng)(neng)。