消防智能電動車設(shè)計報告目錄A1A2A0A3A441A3A4A5A642A3A4A5A642A81A9A7A5A642A82A11A10A12A1343A3A4A14A9A7A15A164A18A19A17A20A21A22A23A24A25A26A2751A17A20A21A22A23A2451A281A29A30A31A32A17A20A21A22A33A3451A282A35A36A37A38A17A20A21A22A33A34513A39A40A17A20A21A22A33A34714A41A42A17A20A21A22A33A34815A43A44A30A31A45A46A47A17A20A21A22A33A34916A48A35A17A20A21A22A33A341017A38A49A17A20A21A22A33A34102A17A20A50A51A21A2211A52A29A53A54A55A43A56A57A58A59A60A25A61A62111A43A63A43A5612261A50A64A65A66A67123A35A36A68A38A43A56134A69A70A71A72A73A74A75A76A43A56145A43A44A46A47A43A5616651A50A64A65A66A67A77A45A78A79A38A49LCDA80A81A43A56167LEDA80A81A43A56178A48A35A43A5617A82A83A58A65A66181A28A59A60A84A85A86A56182A28A87A88A59A60A17A20182A281A29A87A88182A281A281A29A87A88A89A87A90182A282A35A36A37A38A87A88202A282A281A35A36A37A38A87A88A91A92A93A94202A282A282A35A36A37A38A87A88A89A87A90202A283A39A40A87A88202A283A281A39A40A87A88A91A92A93A94202A283A282A39A40A17A20A87A88A89A87A90212A284A41A42A87A88212A284A281A41A42A87A88A93A94212A284A282A41A42A87A88A89A87A90212A285A38A49A87A88222A285A281A38A49A87A88A91A92A93A94222A285A282A38A49A87A88A89A87A90222A286A43A44A30A31A87A88222A286A281A43A44A30A31A87A88A91A92A93A94222A286A282A43A44A30A31A87A88A89A87A90222A287A80A81A87A88232A287A281A80A81A87A88A91A92A93A94232A288A95A96232A288A281A95A96A87A88A91A92A93A94232A288A282A95A96A87A88A89A87A90232A289A48A35A17A20242A289A281A48A35A87A88A91A92A93A94242A289A283A48A35A87A88A89A87A9024A97A98A65A66A38A99251A38A99A59A100A25A101A102252A38A99A103A742521A48A35A104A92A38A992522A105A40A104A92A37A382623A43A44A30A31A104A92A38A992624A106A87A80A81A104A92A38A992625A41A42A91A92A38A992626A107A85A103A74263A108A109A110A11127A112A113A2627A114A115A116A117A118A45A119A12027消防智能電動車摘要A121A122A123A124A125A126A12716A128A129A130A131SPCE061AA132A133A134A135A136A137A138A139A140A141A125PROTELDXPA142A143A144A145A146A147A148A149PCBA150A148A151A152A153A147A150A154A152A155A156A157A158A159A160A161A162A163A164A165A154A166A143A167A162A146A168A169A170A171A172A173A149A174A159A175A176A177A178A179A180A181A182A183A184A185A186A187A188A189A190A191A149A192A193A194A195A196A197A198A199A200A201A202A203A204A205A196A189A193A206A207A208A209A196A210A211A212A147A213A171A183A214A215A196A216A217A149A218A219A174A159A220A156A221A222A223A164A142A224A225A226A162A163A227A228A209A154A229A230A231A232A233A225A226A234A235A236A227A228A209A234A226A237A149A238A239A154A240A241A233A221A241A242A243A244A245A153A147A246A247A149A248A249A196A250A251A154A160A161A162A163A166A143A167A162A146A234A252A253A149A254A255A166A143A252A253A149A198A0A1A167A162A2A3A154A50A4A5A6A7A8A9A10A153A147A149A11A12A231A232A13A14A246A247A149A143A15A16A17A146A211A212A185A206A213A2A3A175A252A196A18A19A156A157A20A21A22A23A149A24A25A155A26A154A220A24A25A156A157A20A172A27A28A179A154A146A211A129A24A29A213A223A30A31A32A175關(guān)鍵字SPCE061,遠(yuǎn)紅外火焰?zhèn)鞲衅?光電開關(guān),紅外對管,霍爾INTELLECTUALELECTRICMOTORCAROFFIRECONTROLABSTRACTTHEINTELLECTUALELECTRICMOTORCAROFFIRECONTROLISBASEDONTHECENTRALCONTROLMICROCONTROLLER,LINGYANGSPCE061ATHEMAINCONTROLBOARDOFTHEINTELLECTUALCARISDESIGNEDANDMADEBYOURSELVES,UTILIZINGPROTELDXPTHESYSTEMMAINLYREALIZESINTELLIGENTLYMEASURINGANDLOOKINGFORTHEFLAMESOURCE,PUTTINGOUTTHEFIRE,ANDRETURNINGTHEORIGINALSTARTINGPOINTTHESYSTEMFULLYUSESSPCE061AABUNDANTI/OMOUTH,32KWORDSFLASH,A/DCONVERTER,PULSETOMODULATEANDOUTPUTPWM,UNIQUEPRONUNCIATIONFUNCTION,TOGATHERTHEDATAOFTHEFARINFRAREDFIRESENSOR,PHOTOELECTRICSWITCHANDTHEINFRAREDANDSOONINREALTIME,THUSTOCONTROLTHEPACE,DIRECTIONOFTHECARINTIMEANDACCURATELY,LOOKFORTHEFLAMETOPUTOUTTHEFIREANDCARRYONDIFFERENTALARMSANDPUTOUTTHEFIRETOSHOWTODIFFERENTSTATES,CLOSETOTHEDISTANCETRAVELEDOFWRITINGDOWNTHECAROFTHESWITCHANDSHOWONLEDTHROUGHWHATHALLSEFFECTISCONTROLLEDFINALLYNOTONLYHASTOTALLYREALIZEDTHEBASICDEMANDINTHETOPICBUTALSOBASICALLYREALIZEDGIVINGPLAYTOSOME,ANDINNOVATETOSOMEEXTENTONTHISBASISKEYWORDLINGYANGSPCE061A,THEFARINFRAREDFIRESENSOR,PHOTOELECTRICSWITCH一系統(tǒng)設(shè)計1設(shè)計要求設(shè)計制作一個消防智能小車模型，能到指定區(qū)域進行搶險滅火工作。以蠟燭模擬火源，隨機分布在場地中。2設(shè)計要求21基本要求（1）智能小車從安全區(qū)域啟動，自動尋找到火源并顯示。（2）除安全區(qū)外，場地隨機出現(xiàn)2個火源，要求智能小車能夠發(fā)現(xiàn)其中一個火焰并將其完全撲滅。（3）能夠發(fā)現(xiàn)并撲滅第二個火焰。（4）撲滅二個火焰的總時間不超過5分鐘。（5）能夠自動計算和顯示撲滅的火源數(shù)。22發(fā)揮部分（1）搶險完畢后智能小車能夠返回到安全區(qū)域（原位）。（2）能夠自動計算和顯示路程。（3）能夠用不同聲音對不同的狀態(tài)進行報警。（4）其他3設(shè)計的基本框架根據(jù)題目的要求，系統(tǒng)分為火焰檢測模塊，避障模塊，坐標(biāo)定位模塊，測距模塊，顯示模塊，電機控制模塊，滅火模塊?；灸K圖如圖1所示。SPCE061A33A34A35A36A37A38A39A40A41A42A43A44A41A42A45A46A41A42A40A47A41A42A48A49A34A35A41A42A75A51A41A42A90A52A41A42A53A37A41A42圖1系統(tǒng)基本模塊圖二各模塊方案比較與論證1模塊方案比較11主控制器模塊方案選擇單片機作為整個運動系統(tǒng)的控制核心，根據(jù)題目要求，主要用G1122G6521G6922G1268G5875G3132檢測到的火焰G7053位和障G11873G10301位G13634，控制電機G17728動，G16772G5417G19681G4584G1268G5875G3132G17902過測G18339G11925場G5390G5242G5483到G12295定的G14045G1926G7053G8886G1461G2507,G20549動顯示G3132顯示行G20554G18336程G12573。對G1122中G3842控制G3132的G17885G6333G6117G1216G7389以G991G989G12193G7053G7708G726方案一G726采用MCS51系列單片機。G3G24G20系G2027單片機G1227G7696G1427G4464，G1363用G12628單，G5332發(fā)G17731G1226以G2462G11840G1226G16855G16809G3132型G2507G1259G3822，G5224用G5203G8879G13792G7234G17953。G1306G7171G24G20系G2027單片機G53G36G48G15G53G50G48G12573G17176源G4581，外G3272模塊G4581，指G1208G2620G7411G19283，運算G17907G5242G17751其他G53G44G54G38指G1208系統(tǒng)單片機G5942。G13475G4466G17353G16789G7138，不能G17810到系統(tǒng)的設(shè)計要求。G3方案二G726采用MC9S12DJ128單片機。G3G48G38G28G54G20G21系G2027單片機以G17907G5242G7368G5567的G38G51G56G20G21G1881核（G54G87G68G85G3G38G82G85G72）為核心的單片機系G2027，G1868型的G54G20G21總G13459G17907G5242為G21G24G48G43。G8504系G2027單片機的G10317G9869G7171G1028G4512的G44G18G50G2487模塊和工G1006控制G999用的G17902G1461模塊，G17902G16771模塊G7389G54G38G44G451G54G51G44G4512IG38G451G38G36G49G451G45G20G27G24G19G451G37G76G87G41G79G76GHG87G12573。G48G38G28G54G20G21DG45G20G21G27具G7389G27KG3G53G36G48，G20G21G27KG3G41LG36G54G43，G1028G4512的G44G18G50G2487G17176源，G1881G13634G206路G20G19位G36G18D，G1881G13634G21KG3EEG51G53G50G48，看門狗電路，倍頻電路G12573G1028G4512的外G3272模塊，運算G17907G5242G5567，完全能夠滿足G6117G1216的系統(tǒng)要求。G1306由G1122其不G7171主流單片機，G1227G7696比G17751高，購買不G7053G1427，G1363用不G5203G8879。G3方案三G726采用凌陽16位單片機SPCE061A。SPCE061AG7171一款16位結(jié)構(gòu)的微控制G3132。G1881G136342K字節(jié)SRAM，32K字節(jié)FLASH，SPCE061AG7389兩個16位G17902用的并行I/OG2487以G2462其他G1028G4512的外G3272模塊。其G1881部具G7389倍頻電路，16位運算以G2462G1028G4512的RAMG17176源G1363其數(shù)據(jù)處理能力G5390大，另外由G1122其G7171凌陽公司大學(xué)計劃的推G5203芯片，G1363用極其G7053G1427。G13475過一系G2027測G16809比G17751，51系G2027單片機G7138顯無法G17810到G6117G1216的要求，G48G38G28G54G20G21DG45G20G21G27單片機可以滿足G6117G1216的設(shè)計要求，G1306由G1122其G1227G7696高，購買不G7053G1427，G6117G1216決定G17885用優(yōu)勢G7368為G7138顯的凌陽16位單片機SPCE061A作為主控單片機。12火焰檢測模塊方案選擇火焰G1268G5875G3132的G17885G6333G726在滅火比賽中，火焰探頭起著非常重要的作用，它可以用作消防小車的眼睛來尋找火源。G3方案一G726檢測火焰溫度利用檢測火焰溫G5242成電動勢的熱電偶，G6521G6922熱電偶產(chǎn)生的電動勢G13475運算放大G3132起到放大作用再G17902過A/DG17728換G6521G2487G6521G6922運算放大G3132的輸出電壓，并將運算放大G3132的電壓與已設(shè)定的基準(zhǔn)電壓進行比G17751，來檢測火焰。G8504G7053法雖然精確G1306適合近處火焰不適合尋找火焰來源。方案二G726檢測火焰中的紫外線日本G43G36G48G36G48G36TG54G56公司G3G53G21G276G27G3G7171利用紫外G13459G3TG53G50G49G3G17902過金屬的光電效果和瓦斯乘法效果來發(fā)現(xiàn)火星源它對可見光完全沒G7389G5875G5224G15也不需要過濾G3132任何可見光不像半導(dǎo)體探測G3132G3它具G7389很小的體積和很寬敏G5875角G5242G6333向性G15并能G5567G17907準(zhǔn)確地發(fā)現(xiàn)從火焰被發(fā)出的弱紫外G13459能夠探測G3G24G3MG3或在稍遠(yuǎn)處發(fā)現(xiàn)香煙G9869大小的火焰。G8504火焰G1268G5875G3132檢測距離遠(yuǎn)并且檢測準(zhǔn)確無誤G1306G7171其G13582G9869G7171G1391電電壓在G23G19G19G1251G5050G2503不適合G5224用在小車G990。G3方案三G726檢測火焰中的紅外線G18331用G13447G14533G10317機G3132G1166模型G18209G1226中的火焰G1268G5875G3132，G8504G1268G5875G3132利用火焰光G13459敏G5875型的G1815G1226對火焰G5390G5242的檢測并將其G17728換為單片機可以G16794G2047的G1461G2507。它的火焰探頭可以用來探測火源或其它一G1135G8886G19283在700NM1000NMG14551G3272G1881的熱源，探測角G5242為60，其中G13430外G13459G8886G19283在880NMG19480近時，其G9801敏G5242G17810到G7380大。遠(yuǎn)G13430外火焰探頭將外G11040G13430外G13459的G5390弱G2476G2282G17728G2282為電流的G2476G2282，G17902過A/DG17728換G3132G2465G7156為0255G14551G3272G1881數(shù)G1552的G2476G2282。外G11040G13430外G13459G17246G5390，數(shù)G1552G17246小G727G13430外G13459G17246弱，數(shù)G1552G17246大。探頭的探測結(jié)果分G2047可以G17902過G16855用G2001數(shù)來G14731G5483，根據(jù)G2001數(shù)返回G1552的G2476G2282G2040G7041G13430外G13459G13459的G5390弱，從G13792能G2040G2047出火源的遠(yuǎn)近。G3圖2火焰檢測方案A54A55A179A180A561A54A55A179A180A562A54A55A179A180A563SPCE061A/DA165A57A58A591A/DA165A57A58A592A/DA165A57A58A593A60A61A62A63A64A65A66A67A68A195從性能G451G1227位G451外G5430G451重G18339G2462其外G3272電路G12573G3822G7053G19766G13783G15397，G6117G1216G18331用G1114G7053G7708G989中的火焰G1268G5875G3132，如圖G22所示G726G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3圖3火焰?zhèn)鞲衅饔蒅1122G8504G1268G5875G3132G999門為機G3132G1166G18209G13634，體積小G5051，G5875G5224敏G5875，為G6117G1216所需。G313避障模塊方案選擇方案一利用焦距恢復(fù)深度信息原理的實時避障方法一G12193基本由G9978距G5686G3809G9157G5242G1461G5699原理的機G3132G1166G4466時避障G7053法G726G9978距法G7171用兩G2500設(shè)G13634為不同G9978距的CCDG6680像機G6305G6680同一場G7235的圖像，然后比G17751G8611G5145圖像G990G11468G5224區(qū)域的G9177G7236G5242，區(qū)域G9177G7236G5242G7380大的G18039G5145圖像的對G5224G9978距所確定的距離G4613G7171G17837個圖像區(qū)域的G9157G5242G1461G5699。G18331用G3822個G11468機可以G2474G5483G7368G3921的G9157G5242G5686G3809效果，在本算法中G2375為G256遠(yuǎn)G257和G256近G257兩G12193標(biāo)示，G17837個G1461G5699成為整個區(qū)域的G9157G5242標(biāo)示。然后G5326G12447全G5145圖像的G9157G5242G1461G5699標(biāo)示圖，其過程G12879G1296G1122由G9978距G5686G3809地G54303DG1461G5699，G7380后，決G12586系統(tǒng)基G1122G9157G5242標(biāo)示圖設(shè)計其避障控制G12586G11065。G8504G12586G11065G1363小車G7389足夠的時間G16765G2081進G17907G5242從G7380大G19489到G19658，G13485小車的控制系統(tǒng)和G16282G16285系統(tǒng)以足夠的G2465G5224時間?？蒅7171成本G3838高，并不適用比賽中。方案二利用超聲波避障為G1114以超聲G8886作為檢測G6175G8585，G5529G20047產(chǎn)生超生G8886和G6521G6922超聲G8886。完成G17837G12193G2163能的G16025G13634G4613G7171超聲G8886G1268G5875G3132，超聲G8886G1268G5875G3132G7171利用壓電效G5224的原理將電能和超聲G8886G11468G1126G17728G2282，G2375在發(fā)G4568超聲G8886的時G1517，將電能G17728換，發(fā)G4568超聲G8886G727G13792在G6922到回G8886的時G1517，G2029將超聲G6403動G17728換成電G1461G2507。超聲G8886測距的原理一G14336G18331用G9205G17246時間法TOF（TIMEOFFLIGHT）。G20330G1820測出超聲G8886從發(fā)G4568到G17947到障G11873G10301返回所G13475G2394的時間，再乘以超聲G8886的G17907G5242G4613G5483到二倍的聲源與障G11873G10301G1055間的距離，D2CT1其中D為G1268G5875G3132與障G11873G10301G1055間的距離，C為聲G8886在G1183G17148中的G1268輸G17907G10587。在G12366G8680中的聲G8886G1268輸G17907G10587為CCA691/273TM/S其中T為G13489對溫G5242，CA693314M/S。在測距精G5242不G7171很高的G5785G1929G991，一G14336G16760為C為常數(shù)340M/S。超聲G8886避障計算G18339G17751大，另外G7389一定的G11462區(qū)，不G4493G7143控制，在不需要計算離障G11873G10301距離的G5785G1929G991G7380G3921不要用超聲G8886測距。方案三利用光電開關(guān)避障光電G5332G1863（光電G1268G5875G3132）G7171光電G6521近G5332G1863的G12628G12228，它G7171利用被檢測G10301對光G7475的G17986G6389或G2465G4568，由同G8505回路G17885G17902電路，從G13792檢測G10301體G7389無的。G10301體不G19492G1122金屬，所G7389能G2465G4568光G13459的G10301體G3355可被檢測。光電G5332G1863將輸G1849電流在發(fā)G4568G3132G990G17728換為光G1461G2507G4568出，G6521G6922G3132再根據(jù)G6521G6922到的光G13459的G5390弱或G7389無對目標(biāo)G10301體進行探測。G3822數(shù)光電G5332G1863G17885用的G7171G8886G19283G6521近可見光的G13430外G13459光G8886型。光電G5332G1863G12193G12879G13333G3822G2265G6336G726G3G311漫反射式光電開關(guān)G726它G7171一G12193G19610發(fā)G4568G3132和G6521G6922G3132G1122一體的G1268G5875G3132，G5415G7389被檢測G10301體G13475過時，G10301體將光電G5332G1863發(fā)G4568G3132發(fā)G4568的足夠G18339的光G13459G2465G4568到G6521G6922G3132，G1122G7171光電G5332G1863G4613產(chǎn)生G1114G5332G1863G1461G2507。G5415被檢測G10301體的G15932G19766光G1154或其G2465光G10587極高時，G9471G2465G4568G5347的光電G5332G1863G7171G20330G17885的檢測模G5347。G312鏡反射式光電開關(guān)G726它G1146G19610發(fā)G4568G3132與G6521G6922G3132G1122一體，光電G5332G1863發(fā)G4568G3132發(fā)出的光G13459G13475過G2465G4568鏡G2465G4568回G6521G6922G3132，G5415被檢測G10301體G13475過且完全阻G7041光G13459時，光電G5332G1863G4613產(chǎn)生G1114檢測G5332G1863G1461G2507。對射式光電開關(guān)G726它G2265含G1114在結(jié)構(gòu)G990G11468G1126分離且光軸G11468對放G13634的發(fā)G4568G3132和G6521G6922G3132，發(fā)G4568G3132發(fā)出的光G13459直G6521進G1849G6521G6922G3132，G5415被檢測G10301體G13475過發(fā)G4568G3132和G6521G6922G3132G1055間且阻G7041光G13459時，光電G5332G1863G4613產(chǎn)生G1114G5332G1863G1461G2507。G5415檢測G10301體為不透G7138時，對G4568G5347光電G5332G1863G7171G7380可靠的檢測G16025G13634。槽式光電開關(guān)G726它G17902常G18331用標(biāo)準(zhǔn)的U字型結(jié)構(gòu)，其發(fā)G4568G3132和G6521G6922G3132分G2047位G1122U型槽的兩邊，并G5430成一光軸，G5415被檢測G10301體G13475過U型槽且阻G7041光軸時，光電G5332G1863G4613產(chǎn)生G1114G5332G1863G18339G1461G2507。槽G5347光電G5332G1863比G17751適合檢測高G17907運動的G10301體，并且它能分辨透G7138與半透G7138G10301體,G1363用安全可靠。光纖式光電開關(guān)G726它G18331用塑料或玻璃光纖G1268G5875G3132來引導(dǎo)光G13459，可以對距離遠(yuǎn)的被檢測G10301體進行檢測。G17902常光纖G1268G5875G3132分為對G4568G5347和G9471G2465G4568G5347。G13475過G2465G3809G16809驗G15932G7138G726G9471G2465G4568型光電G5332G1863監(jiān)測G14551G3272G72610CMG7389利G1122安G16025在小車G990對障G11873G10301進行檢測G7053G1427小車G17728向并且對障G11873G10301G2465G4568敏G5875，G6117G1216G18331用G9471G2465G4568型光電G5332G1863G183A10NA,NPN常G5332型14返回模塊方案選擇方案一數(shù)字指南針數(shù)字指南針（電子指南針）可以G4466時測G18339機G3132G1166所處G7053位，在機G3132G1166足球比賽G451滅火比賽和創(chuàng)意比賽中的作用G7171其它G1268G5875G3132所無法G2474代的。它由一個數(shù)字指南針模塊和一塊G6521G2487卡組成，指南針模塊G1881G7389G11925場G1268G5875G3132和數(shù)據(jù)處理單片機G12573G3132G1226，它可以用串行和IIC的G5430G5347輸出G7053位數(shù)據(jù)G727G6521G2487卡負(fù)責(zé)讀G2474指南針模塊輸出的數(shù)據(jù)，并G17728換為ASBUS所能G6521受的數(shù)據(jù)，同時為指南針模塊提G1391工作時所需的電源。方案二陀螺儀陀螺儀G7171G1363用G17728動角動G18339守恒原理制作的測G18339儀G3132。陀螺儀啟動G13792進G1849G12295定狀態(tài)G1055后，其所指向的旋G17728軸G7053向不受外部環(huán)境的影響G13792G2476G2282，因G8504可以G5224用G1122定向G451導(dǎo)航G12573領(lǐng)域，比如導(dǎo)彈G451飛機G451輪船G18331用陀螺儀制導(dǎo)，還G7389G4613G7171慣性測G18339儀G3132G12573。方案三坐標(biāo)記錄比賽中的場地G7171黑膠皮G7053G7696,G7053G7696的尺寸為30CM30CM,G17837G13485小車G16772G5417坐標(biāo)提G1391G1114G1427利利用兩對G13430外對管G1427可以準(zhǔn)確地G16772G5417小車所在位G13634G17837G12193G7053G7708的G1863鍵G1055處在G1122G17731G1226編程的G3809雜性,對G11840G1226要求很G4581,電路G12628單為G1114培養(yǎng)G6117G1216的G17731G1226編程能力,以G2462全G7053G19766G13783G15397問題的品G17148,G6117G1216G17885G6333G1114G13430外對管G16772G5417坐標(biāo)G4466現(xiàn)返回15電機控制及驅(qū)動模塊方案選擇G6117G1216G1363用凌陽公司的車模，原車模的控制板G18209G7389H橋電機G20549動電路和一G1135預(yù)制的G1268G5875G3132插頭，G1306由G1122本系統(tǒng)需要G17751G3822的G1268G5875G3132和滅火設(shè)備，為G1114減輕小車的負(fù)載并且G7368合理地安排G1268G5875G3132的布局，G6117G1216重新設(shè)計G1114控制板，對電機G20549動電路也進行G1114G17885G6333G726方案一電阻網(wǎng)絡(luò)G18331用電阻網(wǎng)絡(luò)或數(shù)字電位G3132G16855整電動機的分壓，從G13792G17810到G16855G17907的目的G1306G7171電阻網(wǎng)絡(luò)只能G4466現(xiàn)G7389級G16855G17907，G13792數(shù)字電阻的G1815G3132G1226G1227G7696比G17751昂貴。G7368重要的問題在G1122一G14336電動機的電阻很小，G1306電流很大，分壓不僅G19489低效G10587，G13792且G4466現(xiàn)起來很困難。G3方案二采用有達林頓管組成的H型PWM電路。用單片機控制G17810林頓管G1363G1055工作在占G12366比可G16855的G5332G1863狀態(tài)，精確G16855整電機的G17728G17907。G17837G12193電路由G1122工作在管子的飽和截止模G5347G991，效G10587非常高，H型電路保G16789G1114可以G12628單地G4466現(xiàn)G17728G17907和G7053向的控制，G12295定性極G5390，G7171一G12193被G5203G8879G18331用的PWMG16855G17907技術(shù)，承受負(fù)載能力大。方案三應(yīng)用驅(qū)動芯片L298NL298NG7171恒壓恒流雙H橋G19610成電機芯片，如圖4所示可同時控制兩個電機，且輸出電流可G17810到2A。其優(yōu)G9869在G1122控制比G17751G12628單,外G3272電路G17751G4581,并且可同時G20549動兩個電機,能夠保障對兩個電機的G20549動能力G11468同圖4電機驅(qū)動電路設(shè)計方案四驅(qū)動芯片33886MC33886G5332G1863G18331用摩托羅拉的SMARTMOSG999利工藝制造，將高密G5242/高G17907邏輯與精密的模擬和高壓/大電流電源電路G19610成在一起。G17837G1135G3132G1226的G1863鍵G10317性G2265G6336G1881G13634G19492流G451G1881G13634熱G1863機G451G1881G13634欠壓G1863機G451G3822G12193輸出控制G2462負(fù)載狀態(tài)指示G12573。G8504外，G17837兩G12193IC都具G7389魯棒的G1881G13634保護G451邏輯電平控制G2462G17902G16771G2163能，G7389助G1122G12628G2282嵌G1849G5347系統(tǒng)設(shè)計G451G19489低系統(tǒng)成本G451提高系統(tǒng)的可靠性。G6117G1216對L298N和MC33886兩G12193G20549動芯片都進行G1114嘗G16809兩者在性能和G12295定性G7053G19766都不差G990G991,G13783G15397到小車的載重和在黑色膠皮G990能夠狠G3921G17728彎的性能,為G1114G1363兩個電機都G7389足夠大的G20549動能力G6117G1216G17885G6333G1114G1363用兩片MC33886A70A120A71L298NPWMA193A72A73A711A74A76A73A712A74A76M1M216滅火模塊方案選擇G6117G1216知道，燃燒G5529G20047同時具備G989要G13044G726可燃G10301G451G8699G8680和溫G5242G17810到著火G9869，G13582G4581其中一個要G13044，燃燒G4613G1262G1584止。因G8504，滅火的基本原理G4613G7171G1363可燃G10301G19560G13489G12366G8680，或G6238溫G5242G19489低到著火G9869以G991。蠟燭的火焰代G15932G6163間G1881小車G16809圖找到并撲滅的火源。火焰位G13634的G7389效高G5242（指火焰G5225部距場地G15932G19766的距離）在G20G24G70MG14279G21G19G70MG1055間，小車可以運用G12879G1296G8712G451G12366G8680G451G38G50A77G451G43G68G79G82G81G12573G7053G5347進行滅火G15G1306G7171G12117止G6770G1510蠟燭。G3方案一機械方法滅火G6117G1216G5224用G1114一個像G3853子一G7691的G16025G13634，安G16025到小車G990，G5415發(fā)現(xiàn)蠟燭的火焰后，小車G13543G5942G2081進，并G5050G2503G6682動，以火焰作為一個G16314發(fā)源，G5415火焰燒G7041滅火G16025G13634G2081G12483的G13466G13459后，G16025G13634G990的G6305子G18334放，狠狠地G6305G991G2447。G8504G2162法滅火G17817G17907，G7389效可G7171G4600其G7138顯的G13582G9869G726第一，G4493G7143G6770G1510蠟燭G727第一，G3853子G5224G5415比小車G2081G12483G14279G4581G19283出5G2412G12871以G990，G1306G7171G17837G7691的G16817，G4613G1262影響到機G3132G1166G6770G1510G3693G3733來G16314發(fā)G17728彎動作G727第二，小車發(fā)現(xiàn)火源后，并不能像G5088G7407的G18039G7691準(zhǔn)確的對準(zhǔn)火焰，也G4613導(dǎo)G14280不能靠蠟燭的火焰來燒G7041G13466G13459，G16314發(fā)G3853子滅火。G3方案二干粉滅火劑滅火G3G3G5190G12893滅火G2070G7171用G1122滅火的G5190G10169且G7143G1122流動的微G13466G12893G7423G3G15G3由具G7389滅火效能的無機G11428和G4581G18339的G9167G2164G2070G13475G5190G10169G451G12893G11874G451G9163合G13792成微G13466G3278體G12893G7423組成。G3滅火G2070主要G17902過在G2164壓G3G8680體作用G991G2955出的G12893G19666與火焰G6521G16314G451G9163合時發(fā)生的G10301理G451G2282學(xué)作用滅火。另外G3G15G3還G7389部分G12244G18334G8699和G1931G2376的作用。G5190G12893滅火G16025G13634比G17751G3809雜，需要將G5190G12893提到火源適G5415位G13634G990G991G20084G1510后G1363G5190G12893G7506動，G7380后還需要G2955G8680G16025G13634。對G1122時間G7389G19492的比賽G6117G1216G9132G8772G1114G17837G12193G7053法。G3方案三液G1319滅火二G8699G2282G11911滅火G2070G1227G7696低G5277，G14731G2474G451制備G4493G7143，其主要G1393G12390G5699作用和部分G1931G2376作用滅火。在常壓G991，G9094態(tài)的二G8699G2282G11911G1262G12447G2375G8785G2282，因G13792，滅火時，二G8699G2282G11911G8680體可以G19489低可燃G10301G2620G3272或防護G12366間G1881的G8699G8999G5242，產(chǎn)生G12390G5699作用G13792滅火。另外，二G8699G2282G11911從G1660G4396G4493G3132中G2955出時，G1262由G9094體G17817G17907G8785G2282成G8680體，G13792從G2620G3272G2572引部分熱G18339，起到G1931G2376的作用。G9094態(tài)二G8699G2282G11911和G9177G8712滅火用來G10072滅蠟燭火焰效果很理G5831，G13783G15397到比賽中G1363用小車的體積和載重能力，并且G7389障G11873G10301可能與小車G11468G6770，G8504G7053法G6117G1216并沒G7389G18331用。方案四G20130G6171滅火G20130G6171滅火G7171G6117G1216G7380G13468的G17885G6333G726第一G726控制G12628單，只G1363用CPU一個G12483G2487，占用G17176源G4581，G1363用時出現(xiàn)誤差小G727第二G726G20130G6171適合滅小火焰。第G989G726G16855G16809G7053G1427G6117G1216可以根據(jù)需要G6925G2476G20130G6171G6171G2506的大小，并且可以任意G3698減其高G5242G727第G3247G726G16025備G12628單，只需要一個G2163G10587不G7171很大的電機G4613可以G1114。17測距模塊方案選擇方案一G3698G18339式G7071G17728G13546G11733器G17902過G1881部的兩個光敏G6521G6922管G17728G2282其角G5242G11733G11436的時G5219和G11468位的G1863系,G5483到角G5242G11733G11436角G5242位G12239G18339G3698G2164和減G4581優(yōu)G9869G7171可直G6521準(zhǔn)確地產(chǎn)生G7053G8886,準(zhǔn)確性很高G1306G1227G7696昂貴方案二一G14336的光傳感器在電機軸G990放G990黑G11345G11468間的G11733G11436，G2375可G17810到測G18339電路，G13582G9869G726其測G16809精G5242低，在黑G11345G1144G11040處所產(chǎn)生的G8886G5430G7171無G16280G5471的，G1363G5483測G18339G7171誤差G17751大。方案三霍爾傳感器在G11925場力作用G991，在金屬或G17902電半導(dǎo)體中將產(chǎn)生G19681G13831效G5224，其輸出電壓與G11925場G5390G5242成G8503比，基G1122G19681G13831效G5224的G19681G13831G1268G5875G3132常用G1122測G18339G11925場G5390G5242。本G7053G7708G18331用G19681G4584型非G6521G16314G5347G17728G17907G1268G5875G3132，G6238G1855個小G11925片G3355G2260地G3278定在一個車輪的邊G13548，G19681G4584G1815G1226的位G13634與其中一個小G11925片的位G13634G11468G10043G5224，小車在行G20554過程中隨著小G11925片與G19681G4584G1815G1226的位G13634G1863系，G19681G4584G1815G1226G1262產(chǎn)生G14045G1926G1461G2507。G17837G12193車G17907G18336程G15932G17728軸G8611G17728一G3292,G19681G4584G1268G5875G3132將G5875G522