消防智能电动车设计报告

消防智能电动车设计报告目录A1A2A0A3A441A3A4A5A642A3A4A5A642A81A9A7A5A642A82A11A10A12A1343A3A4A14A9A7A15A164A18A19A17A20A21A22A23A24A25A26A2751A17A20A21A22A23A2451A281A29A30A31A32A17A20A21A22A33A3451A282A35A36A37A38A17A20A21A22A33A34513A39A40A17A20A21A22A33A34714A41A42A17A20A21A22A33A34815A43A44A30A31A45A46A47A17A20A21A22A33A34916A48A35A17A20A21A22A33A341017A38A49A17A20A21A22A33A34102A17A20A50A51A21A2211A52A29A53A54A55A43A56A57A58A59A60A25A61A62111A43A63A43A5612261A50A64A65A66A67123A35A36A68A38A43A56134A69A70A71A72A73A74A75A76A43A56145A43A44A46A47A43A5616651A50A64A65A66A67A77A45A78A79A38A49LCDA80A81A43A56167LEDA80A81A43A56178A48A35A43A5617A82A83A58A65A66181A28A59A60A84A85A86A56182A28A87A88A59A60A17A20182A281A29A87A88182A281A281A29A87A88A89A87A90182A282A35A36A37A38A87A88202A282A281A35A36A37A38A87A88A91A92A93A94202A282A282A35A36A37A38A87A88A89A87A90202A283A39A40A87A88202A283A281A39A40A87A88A91A92A93A94202A283A282A39A40A17A20A87A88A89A87A90212A284A41A42A87A88212A284A281A41A42A87A88A93A94212A284A282A41A42A87A88A89A87A90212A285A38A49A87A88222A285A281A38A49A87A88A91A92A93A94222A285A282A38A49A87A88A89A87A90222A286A43A44A30A31A87A88222A286A281A43A44A30A31A87A88A91A92A93A94222A286A282A43A44A30A31A87A88A89A87A90222A287A80A81A87A88232A287A281A80A81A87A88A91A92A93A94232A288A95A96232A288A281A95A96A87A88A91A92A93A94232A288A282A95A96A87A88A89A87A90232A289A48A35A17A20242A289A281A48A35A87A88A91A92A93A94242A289A283A48A35A87A88A89A87A9024A97A98A65A66A38A99251A38A99A59A100A25A101A102252A38A99A103A742521A48A35A104A92A38A992522A105A40A104A92A37A382623A43A44A30A31A104A92A38A992624A106A87A80A81A104A92A38A992625A41A42A91A92A38A992626A107A85A103A74263A108A109A110A11127A112A113A2627A114A115A116A117A118A45A119A12027消防智能电动车摘要A121A122A123A124A125A126A12716A128A129A130A131SPCE061AA132A133A134A135A136A137A138A139A140A141A125PROTELDXPA142A143A144A145A146A147A148A149PCBA150A148A151A152A153A147A150A154A152A155A156A157A158A159A160A161A162A163A164A165A154A166A143A167A162A146A168A169A170A171A172A173A149A174A159A175A176A177A178A179A180A181A182A183A184A185A186A187A188A189A190A191A149A192A193A194A195A196A197A198A199A200A201A202A203A204A205A196A189A193A206A207A208A209A196A210A211A212A147A213A171A183A214A215A196A216A217A149A218A219A174A159A220A156A221A222A223A164A142A224A225A226A162A163A227A228A209A154A229A230A231A232A233A225A226A234A235A236A227A228A209A234A226A237A149A238A239A154A240A241A233A221A241A242A243A244A245A153A147A246A247A149A248A249A196A250A251A154A160A161A162A163A166A143A167A162A146A234A252A253A149A254A255A166A143A252A253A149A198A0A1A167A162A2A3A154A50A4A5A6A7A8A9A10A153A147A149A11A12A231A232A13A14A246A247A149A143A15A16A17A146A211A212A185A206A213A2A3A175A252A196A18A19A156A157A20A21A22A23A149A24A25A155A26A154A220A24A25A156A157A20A172A27A28A179A154A146A211A129A24A29A213A223A30A31A32A175关键字SPCE061,远红外火焰传感器,光电开关,红外对管,霍尔INTELLECTUALELECTRICMOTORCAROFFIRECONTROLABSTRACTTHEINTELLECTUALELECTRICMOTORCAROFFIRECONTROLISBASEDONTHECENTRALCONTROLMICROCONTROLLER,LINGYANGSPCE061ATHEMAINCONTROLBOARDOFTHEINTELLECTUALCARISDESIGNEDANDMADEBYOURSELVES,UTILIZINGPROTELDXPTHESYSTEMMAINLYREALIZESINTELLIGENTLYMEASURINGANDLOOKINGFORTHEFLAMESOURCE,PUTTINGOUTTHEFIRE,ANDRETURNINGTHEORIGINALSTARTINGPOINTTHESYSTEMFULLYUSESSPCE061AABUNDANTI/OMOUTH,32KWORDSFLASH,A/DCONVERTER,PULSETOMODULATEANDOUTPUTPWM,UNIQUEPRONUNCIATIONFUNCTION,TOGATHERTHEDATAOFTHEFARINFRAREDFIRESENSOR,PHOTOELECTRICSWITCHANDTHEINFRAREDANDSOONINREALTIME,THUSTOCONTROLTHEPACE,DIRECTIONOFTHECARINTIMEANDACCURATELY,LOOKFORTHEFLAMETOPUTOUTTHEFIREANDCARRYONDIFFERENTALARMSANDPUTOUTTHEFIRETOSHOWTODIFFERENTSTATES,CLOSETOTHEDISTANCETRAVELEDOFWRITINGDOWNTHECAROFTHESWITCHANDSHOWONLEDTHROUGHWHATHALLSEFFECTISCONTROLLEDFINALLYNOTONLYHASTOTALLYREALIZEDTHEBASICDEMANDINTHETOPICBUTALSOBASICALLYREALIZEDGIVINGPLAYTOSOME,ANDINNOVATETOSOMEEXTENTONTHISBASISKEYWORDLINGYANGSPCE061A,THEFARINFRAREDFIRESENSOR,PHOTOELECTRICSWITCH一系统设计1设计要求设计制作一个消防智能小车模型，能到指定区域进行抢险灭火工作。以蜡烛模拟火源，随机分布在场地中。2设计要求21基本要求（1）智能小车从安全区域启动，自动寻找到火源并显示。（2）除安全区外，场地随机出现2个火源，要求智能小车能够发现其中一个火焰并将其完全扑灭。（3）能够发现并扑灭第二个火焰。（4）扑灭二个火焰的总时间不超过5分钟。（5）能够自动计算和显示扑灭的火源数。22发挥部分（1）抢险完毕后智能小车能够返回到安全区域（原位）。（2）能够自动计算和显示路程。（3）能够用不同声音对不同的状态进行报警。（4）其他3设计的基本框架根据题目的要求，系统分为火焰检测模块，避障模块，坐标定位模块，测距模块，显示模块，电机控制模块，灭火模块。基本模块图如图1所示。SPCE061A33A34A35A36A37A38A39A40A41A42A43A44A41A42A45A46A41A42A40A47A41A42A48A49A34A35A41A42A75A51A41A42A90A52A41A42A53A37A41A42图1系统基本模块图二各模块方案比较与论证1模块方案比较11主控制器模块方案选择单片机作为整个运动系统的控制核心，根据题目要求，主要用G1122G6521G6922G1268G5875G3132检测到的火焰G7053位和障G11873G10301位G13634，控制电机G17728动，G16772G5417G19681G4584G1268G5875G3132G17902过测G18339G11925场G5390G5242G5483到G12295定的G14045G1926G7053G8886G1461G2507,G20549动显示G3132显示行G20554G18336程G12573。对G1122中G3842控制G3132的G17885G6333G6117G1216G7389以G991G989G12193G7053G7708G726方案一G726采用MCS51系列单片机。G3G24G20系G2027单片机G1227G7696G1427G4464，G1363用G12628单，G5332发G17731G1226以G2462G11840G1226G16855G16809G3132型G2507G1259G3822，G5224用G5203G8879G13792G7234G17953。G1306G7171G24G20系G2027单片机G53G36G48G15G53G50G48G12573G17176源G4581，外G3272模块G4581，指G1208G2620G7411G19283，运算G17907G5242G17751其他G53G44G54G38指G1208系统单片机G5942。G13475G4466G17353G16789G7138，不能G17810到系统的设计要求。G3方案二G726采用MC9S12DJ128单片机。G3G48G38G28G54G20G21系G2027单片机以G17907G5242G7368G5567的G38G51G56G20G21G1881核（G54G87G68G85G3G38G82G85G72）为核心的单片机系G2027，G1868型的G54G20G21总G13459G17907G5242为G21G24G48G43。G8504系G2027单片机的G10317G9869G7171G1028G4512的G44G18G50G2487模块和工G1006控制G999用的G17902G1461模块，G17902G16771模块G7389G54G38G44G451G54G51G44G4512IG38G451G38G36G49G451G45G20G27G24G19G451G37G76G87G41G79G76GHG87G12573。G48G38G28G54G20G21DG45G20G21G27具G7389G27KG3G53G36G48，G20G21G27KG3G41LG36G54G43，G1028G4512的G44G18G50G2487G17176源，G1881G13634G206路G20G19位G36G18D，G1881G13634G21KG3EEG51G53G50G48，看门狗电路，倍频电路G12573G1028G4512的外G3272模块，运算G17907G5242G5567，完全能够满足G6117G1216的系统要求。G1306由G1122其不G7171主流单片机，G1227G7696比G17751高，购买不G7053G1427，G1363用不G5203G8879。G3方案三G726采用凌阳16位单片机SPCE061A。SPCE061AG7171一款16位结构的微控制G3132。G1881G136342K字节SRAM，32K字节FLASH，SPCE061AG7389两个16位G17902用的并行I/OG2487以G2462其他G1028G4512的外G3272模块。其G1881部具G7389倍频电路，16位运算以G2462G1028G4512的RAMG17176源G1363其数据处理能力G5390大，另外由G1122其G7171凌阳公司大学计划的推G5203芯片，G1363用极其G7053G1427。G13475过一系G2027测G16809比G17751，51系G2027单片机G7138显无法G17810到G6117G1216的要求，G48G38G28G54G20G21DG45G20G21G27单片机可以满足G6117G1216的设计要求，G1306由G1122其G1227G7696高，购买不G7053G1427，G6117G1216决定G17885用优势G7368为G7138显的凌阳16位单片机SPCE061A作为主控单片机。12火焰检测模块方案选择火焰G1268G5875G3132的G17885G6333G726在灭火比赛中，火焰探头起着非常重要的作用，它可以用作消防小车的眼睛来寻找火源。G3方案一G726检测火焰温度利用检测火焰温G5242成电动势的热电偶，G6521G6922热电偶产生的电动势G13475运算放大G3132起到放大作用再G17902过A/DG17728换G6521G2487G6521G6922运算放大G3132的输出电压，并将运算放大G3132的电压与已设定的基准电压进行比G17751，来检测火焰。G8504G7053法虽然精确G1306适合近处火焰不适合寻找火焰来源。方案二G726检测火焰中的紫外线日本G43G36G48G36G48G36TG54G56公司G3G53G21G276G27G3G7171利用紫外G13459G3TG53G50G49G3G17902过金属的光电效果和瓦斯乘法效果来发现火星源它对可见光完全没G7389G5875G5224G15也不需要过滤G3132任何可见光不像半导体探测G3132G3它具G7389很小的体积和很宽敏G5875角G5242G6333向性G15并能G5567G17907准确地发现从火焰被发出的弱紫外G13459能够探测G3G24G3MG3或在稍远处发现香烟G9869大小的火焰。G8504火焰G1268G5875G3132检测距离远并且检测准确无误G1306G7171其G13582G9869G7171G1391电电压在G23G19G19G1251G5050G2503不适合G5224用在小车G990。G3方案三G726检测火焰中的红外线G18331用G13447G14533G10317机G3132G1166模型G18209G1226中的火焰G1268G5875G3132，G8504G1268G5875G3132利用火焰光G13459敏G5875型的G1815G1226对火焰G5390G5242的检测并将其G17728换为单片机可以G16794G2047的G1461G2507。它的火焰探头可以用来探测火源或其它一G1135G8886G19283在700NM1000NMG14551G3272G1881的热源，探测角G5242为60，其中G13430外G13459G8886G19283在880NMG19480近时，其G9801敏G5242G17810到G7380大。远G13430外火焰探头将外G11040G13430外G13459的G5390弱G2476G2282G17728G2282为电流的G2476G2282，G17902过A/DG17728换G3132G2465G7156为0255G14551G3272G1881数G1552的G2476G2282。外G11040G13430外G13459G17246G5390，数G1552G17246小G727G13430外G13459G17246弱，数G1552G17246大。探头的探测结果分G2047可以G17902过G16855用G2001数来G14731G5483，根据G2001数返回G1552的G2476G2282G2040G7041G13430外G13459G13459的G5390弱，从G13792能G2040G2047出火源的远近。G3图2火焰检测方案A54A55A179A180A561A54A55A179A180A562A54A55A179A180A563SPCE061A/DA165A57A58A591A/DA165A57A58A592A/DA165A57A58A593A60A61A62A63A64A65A66A67A68A195从性能G451G1227位G451外G5430G451重G18339G2462其外G3272电路G12573G3822G7053G19766G13783G15397，G6117G1216G18331用G1114G7053G7708G989中的火焰G1268G5875G3132，如图G22所示G726G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3G3图3火焰传感器由G1122G8504G1268G5875G3132G999门为机G3132G1166G18209G13634，体积小G5051，G5875G5224敏G5875，为G6117G1216所需。G313避障模块方案选择方案一利用焦距恢复深度信息原理的实时避障方法一G12193基本由G9978距G5686G3809G9157G5242G1461G5699原理的机G3132G1166G4466时避障G7053法G726G9978距法G7171用两G2500设G13634为不同G9978距的CCDG6680像机G6305G6680同一场G7235的图像，然后比G17751G8611G5145图像G990G11468G5224区域的G9177G7236G5242，区域G9177G7236G5242G7380大的G18039G5145图像的对G5224G9978距所确定的距离G4613G7171G17837个图像区域的G9157G5242G1461G5699。G18331用G3822个G11468机可以G2474G5483G7368G3921的G9157G5242G5686G3809效果，在本算法中G2375为G256远G257和G256近G257两G12193标示，G17837个G1461G5699成为整个区域的G9157G5242标示。然后G5326G12447全G5145图像的G9157G5242G1461G5699标示图，其过程G12879G1296G1122由G9978距G5686G3809地G54303DG1461G5699，G7380后，决G12586系统基G1122G9157G5242标示图设计其避障控制G12586G11065。G8504G12586G11065G1363小车G7389足够的时间G16765G2081进G17907G5242从G7380大G19489到G19658，G13485小车的控制系统和G16282G16285系统以足够的G2465G5224时间。可G7171成本G3838高，并不适用比赛中。方案二利用超声波避障为G1114以超声G8886作为检测G6175G8585，G5529G20047产生超生G8886和G6521G6922超声G8886。完成G17837G12193G2163能的G16025G13634G4613G7171超声G8886G1268G5875G3132，超声G8886G1268G5875G3132G7171利用压电效G5224的原理将电能和超声G8886G11468G1126G17728G2282，G2375在发G4568超声G8886的时G1517，将电能G17728换，发G4568超声G8886G727G13792在G6922到回G8886的时G1517，G2029将超声G6403动G17728换成电G1461G2507。超声G8886测距的原理一G14336G18331用G9205G17246时间法TOF（TIMEOFFLIGHT）。G20330G1820测出超声G8886从发G4568到G17947到障G11873G10301返回所G13475G2394的时间，再乘以超声G8886的G17907G5242G4613G5483到二倍的声源与障G11873G10301G1055间的距离，D2CT1其中D为G1268G5875G3132与障G11873G10301G1055间的距离，C为声G8886在G1183G17148中的G1268输G17907G10587。在G12366G8680中的声G8886G1268输G17907G10587为CCA691/273TM/S其中T为G13489对温G5242，CA693314M/S。在测距精G5242不G7171很高的G5785G1929G991，一G14336G16760为C为常数340M/S。超声G8886避障计算G18339G17751大，另外G7389一定的G11462区，不G4493G7143控制，在不需要计算离障G11873G10301距离的G5785G1929G991G7380G3921不要用超声G8886测距。方案三利用光电开关避障光电G5332G1863（光电G1268G5875G3132）G7171光电G6521近G5332G1863的G12628G12228，它G7171利用被检测G10301对光G7475的G17986G6389或G2465G4568，由同G8505回路G17885G17902电路，从G13792检测G10301体G7389无的。G10301体不G19492G1122金属，所G7389能G2465G4568光G13459的G10301体G3355可被检测。光电G5332G1863将输G1849电流在发G4568G3132G990G17728换为光G1461G2507G4568出，G6521G6922G3132再根据G6521G6922到的光G13459的G5390弱或G7389无对目标G10301体进行探测。G3822数光电G5332G1863G17885用的G7171G8886G19283G6521近可见光的G13430外G13459光G8886型。光电G5332G1863G12193G12879G13333G3822G2265G6336G726G3G311漫反射式光电开关G726它G7171一G12193G19610发G4568G3132和G6521G6922G3132G1122一体的G1268G5875G3132，G5415G7389被检测G10301体G13475过时，G10301体将光电G5332G1863发G4568G3132发G4568的足够G18339的光G13459G2465G4568到G6521G6922G3132，G1122G7171光电G5332G1863G4613产生G1114G5332G1863G1461G2507。G5415被检测G10301体的G15932G19766光G1154或其G2465光G10587极高时，G9471G2465G4568G5347的光电G5332G1863G7171G20330G17885的检测模G5347。G312镜反射式光电开关G726它G1146G19610发G4568G3132与G6521G6922G3132G1122一体，光电G5332G1863发G4568G3132发出的光G13459G13475过G2465G4568镜G2465G4568回G6521G6922G3132，G5415被检测G10301体G13475过且完全阻G7041光G13459时，光电G5332G1863G4613产生G1114检测G5332G1863G1461G2507。对射式光电开关G726它G2265含G1114在结构G990G11468G1126分离且光轴G11468对放G13634的发G4568G3132和G6521G6922G3132，发G4568G3132发出的光G13459直G6521进G1849G6521G6922G3132，G5415被检测G10301体G13475过发G4568G3132和G6521G6922G3132G1055间且阻G7041光G13459时，光电G5332G1863G4613产生G1114G5332G1863G1461G2507。G5415检测G10301体为不透G7138时，对G4568G5347光电G5332G1863G7171G7380可靠的检测G16025G13634。槽式光电开关G726它G17902常G18331用标准的U字型结构，其发G4568G3132和G6521G6922G3132分G2047位G1122U型槽的两边，并G5430成一光轴，G5415被检测G10301体G13475过U型槽且阻G7041光轴时，光电G5332G1863G4613产生G1114G5332G1863G18339G1461G2507。槽G5347光电G5332G1863比G17751适合检测高G17907运动的G10301体，并且它能分辨透G7138与半透G7138G10301体,G1363用安全可靠。光纤式光电开关G726它G18331用塑料或玻璃光纤G1268G5875G3132来引导光G13459，可以对距离远的被检测G10301体进行检测。G17902常光纤G1268G5875G3132分为对G4568G5347和G9471G2465G4568G5347。G13475过G2465G3809G16809验G15932G7138G726G9471G2465G4568型光电G5332G1863监测G14551G3272G72610CMG7389利G1122安G16025在小车G990对障G11873G10301进行检测G7053G1427小车G17728向并且对障G11873G10301G2465G4568敏G5875，G6117G1216G18331用G9471G2465G4568型光电G5332G1863G183A10NA,NPN常G5332型14返回模块方案选择方案一数字指南针数字指南针（电子指南针）可以G4466时测G18339机G3132G1166所处G7053位，在机G3132G1166足球比赛G451灭火比赛和创意比赛中的作用G7171其它G1268G5875G3132所无法G2474代的。它由一个数字指南针模块和一块G6521G2487卡组成，指南针模块G1881G7389G11925场G1268G5875G3132和数据处理单片机G12573G3132G1226，它可以用串行和IIC的G5430G5347输出G7053位数据G727G6521G2487卡负责读G2474指南针模块输出的数据，并G17728换为ASBUS所能G6521受的数据，同时为指南针模块提G1391工作时所需的电源。方案二陀螺仪陀螺仪G7171G1363用G17728动角动G18339守恒原理制作的测G18339仪G3132。陀螺仪启动G13792进G1849G12295定状态G1055后，其所指向的旋G17728轴G7053向不受外部环境的影响G13792G2476G2282，因G8504可以G5224用G1122定向G451导航G12573领域，比如导弹G451飞机G451轮船G18331用陀螺仪制导，还G7389G4613G7171惯性测G18339仪G3132G12573。方案三坐标记录比赛中的场地G7171黑胶皮G7053G7696,G7053G7696的尺寸为30CM30CM,G17837G13485小车G16772G5417坐标提G1391G1114G1427利利用两对G13430外对管G1427可以准确地G16772G5417小车所在位G13634G17837G12193G7053G7708的G1863键G1055处在G1122G17731G1226编程的G3809杂性,对G11840G1226要求很G4581,电路G12628单为G1114培养G6117G1216的G17731G1226编程能力,以G2462全G7053G19766G13783G15397问题的品G17148,G6117G1216G17885G6333G1114G13430外对管G16772G5417坐标G4466现返回15电机控制及驱动模块方案选择G6117G1216G1363用凌阳公司的车模，原车模的控制板G18209G7389H桥电机G20549动电路和一G1135预制的G1268G5875G3132插头，G1306由G1122本系统需要G17751G3822的G1268G5875G3132和灭火设备，为G1114减轻小车的负载并且G7368合理地安排G1268G5875G3132的布局，G6117G1216重新设计G1114控制板，对电机G20549动电路也进行G1114G17885G6333G726方案一电阻网络G18331用电阻网络或数字电位G3132G16855整电动机的分压，从G13792G17810到G16855G17907的目的G1306G7171电阻网络只能G4466现G7389级G16855G17907，G13792数字电阻的G1815G3132G1226G1227G7696比G17751昂贵。G7368重要的问题在G1122一G14336电动机的电阻很小，G1306电流很大，分压不仅G19489低效G10587，G13792且G4466现起来很困难。G3方案二采用有达林顿管组成的H型PWM电路。用单片机控制G17810林顿管G1363G1055工作在占G12366比可G16855的G5332G1863状态，精确G16855整电机的G17728G17907。G17837G12193电路由G1122工作在管子的饱和截止模G5347G991，效G10587非常高，H型电路保G16789G1114可以G12628单地G4466现G17728G17907和G7053向的控制，G12295定性极G5390，G7171一G12193被G5203G8879G18331用的PWMG16855G17907技术，承受负载能力大。方案三应用驱动芯片L298NL298NG7171恒压恒流双H桥G19610成电机芯片，如图4所示可同时控制两个电机，且输出电流可G17810到2A。其优G9869在G1122控制比G17751G12628单,外G3272电路G17751G4581,并且可同时G20549动两个电机,能够保障对两个电机的G20549动能力G11468同图4电机驱动电路设计方案四驱动芯片33886MC33886G5332G1863G18331用摩托罗拉的SMARTMOSG999利工艺制造，将高密G5242/高G17907逻辑与精密的模拟和高压/大电流电源电路G19610成在一起。G17837G1135G3132G1226的G1863键G10317性G2265G6336G1881G13634G19492流G451G1881G13634热G1863机G451G1881G13634欠压G1863机G451G3822G12193输出控制G2462负载状态指示G12573。G8504外，G17837两G12193IC都具G7389鲁棒的G1881G13634保护G451逻辑电平控制G2462G17902G16771G2163能，G7389助G1122G12628G2282嵌G1849G5347系统设计G451G19489低系统成本G451提高系统的可靠性。G6117G1216对L298N和MC33886两G12193G20549动芯片都进行G1114尝G16809两者在性能和G12295定性G7053G19766都不差G990G991,G13783G15397到小车的载重和在黑色胶皮G990能够狠G3921G17728弯的性能,为G1114G1363两个电机都G7389足够大的G20549动能力G6117G1216G17885G6333G1114G1363用两片MC33886A70A120A71L298NPWMA193A72A73A711A74A76A73A712A74A76M1M216灭火模块方案选择G6117G1216知道，燃烧G5529G20047同时具备G989要G13044G726可燃G10301G451G8699G8680和温G5242G17810到着火G9869，G13582G4581其中一个要G13044，燃烧G4613G1262G1584止。因G8504，灭火的基本原理G4613G7171G1363可燃G10301G19560G13489G12366G8680，或G6238温G5242G19489低到着火G9869以G991。蜡烛的火焰代G15932G6163间G1881小车G16809图找到并扑灭的火源。火焰位G13634的G7389效高G5242（指火焰G5225部距场地G15932G19766的距离）在G20G24G70MG14279G21G19G70MG1055间，小车可以运用G12879G1296G8712G451G12366G8680G451G38G50A77G451G43G68G79G82G81G12573G7053G5347进行灭火G15G1306G7171G12117止G6770G1510蜡烛。G3方案一机械方法灭火G6117G1216G5224用G1114一个像G3853子一G7691的G16025G13634，安G16025到小车G990，G5415发现蜡烛的火焰后，小车G13543G5942G2081进，并G5050G2503G6682动，以火焰作为一个G16314发源，G5415火焰烧G7041灭火G16025G13634G2081G12483的G13466G13459后，G16025G13634G990的G6305子G18334放，狠狠地G6305G991G2447。G8504G2162法灭火G17817G17907，G7389效可G7171G4600其G7138显的G13582G9869G726第一，G4493G7143G6770G1510蜡烛G727第一，G3853子G5224G5415比小车G2081G12483G14279G4581G19283出5G2412G12871以G990，G1306G7171G17837G7691的G16817，G4613G1262影响到机G3132G1166G6770G1510G3693G3733来G16314发G17728弯动作G727第二，小车发现火源后，并不能像G5088G7407的G18039G7691准确的对准火焰，也G4613导G14280不能靠蜡烛的火焰来烧G7041G13466G13459，G16314发G3853子灭火。G3方案二干粉灭火剂灭火G3G3G5190G12893灭火G2070G7171用G1122灭火的G5190G10169且G7143G1122流动的微G13466G12893G7423G3G15G3由具G7389灭火效能的无机G11428和G4581G18339的G9167G2164G2070G13475G5190G10169G451G12893G11874G451G9163合G13792成微G13466G3278体G12893G7423组成。G3灭火G2070主要G17902过在G2164压G3G8680体作用G991G2955出的G12893G19666与火焰G6521G16314G451G9163合时发生的G10301理G451G2282学作用灭火。另外G3G15G3还G7389部分G12244G18334G8699和G1931G2376的作用。G5190G12893灭火G16025G13634比G17751G3809杂，需要将G5190G12893提到火源适G5415位G13634G990G991G20084G1510后G1363G5190G12893G7506动，G7380后还需要G2955G8680G16025G13634。对G1122时间G7389G19492的比赛G6117G1216G9132G8772G1114G17837G12193G7053法。G3方案三液G1319灭火二G8699G2282G11911灭火G2070G1227G7696低G5277，G14731G2474G451制备G4493G7143，其主要G1393G12390G5699作用和部分G1931G2376作用灭火。在常压G991，G9094态的二G8699G2282G11911G1262G12447G2375G8785G2282，因G13792，灭火时，二G8699G2282G11911G8680体可以G19489低可燃G10301G2620G3272或防护G12366间G1881的G8699G8999G5242，产生G12390G5699作用G13792灭火。另外，二G8699G2282G11911从G1660G4396G4493G3132中G2955出时，G1262由G9094体G17817G17907G8785G2282成G8680体，G13792从G2620G3272G2572引部分热G18339，起到G1931G2376的作用。G9094态二G8699G2282G11911和G9177G8712灭火用来G10072灭蜡烛火焰效果很理G5831，G13783G15397到比赛中G1363用小车的体积和载重能力，并且G7389障G11873G10301可能与小车G11468G6770，G8504G7053法G6117G1216并没G7389G18331用。方案四G20130G6171灭火G20130G6171灭火G7171G6117G1216G7380G13468的G17885G6333G726第一G726控制G12628单，只G1363用CPU一个G12483G2487，占用G17176源G4581，G1363用时出现误差小G727第二G726G20130G6171适合灭小火焰。第G989G726G16855G16809G7053G1427G6117G1216可以根据需要G6925G2476G20130G6171G6171G2506的大小，并且可以任意G3698减其高G5242G727第G3247G726G16025备G12628单，只需要一个G2163G10587不G7171很大的电机G4613可以G1114。17测距模块方案选择方案一G3698G18339式G7071G17728G13546G11733器G17902过G1881部的两个光敏G6521G6922管G17728G2282其角G5242G11733G11436的时G5219和G11468位的G1863系,G5483到角G5242G11733G11436角G5242位G12239G18339G3698G2164和减G4581优G9869G7171可直G6521准确地产生G7053G8886,准确性很高G1306G1227G7696昂贵方案二一G14336的光传感器在电机轴G990放G990黑G11345G11468间的G11733G11436，G2375可G17810到测G18339电路，G13582G9869G726其测G16809精G5242低，在黑G11345G1144G11040处所产生的G8886G5430G7171无G16280G5471的，G1363G5483测G18339G7171误差G17751大。方案三霍尔传感器在G11925场力作用G991，在金属或G17902电半导体中将产生G19681G13831效G5224，其输出电压与G11925场G5390G5242成G8503比，基G1122G19681G13831效G5224的G19681G13831G1268G5875G3132常用G1122测G18339G11925场G5390G5242。本G7053G7708G18331用G19681G4584型非G6521G16314G5347G17728G17907G1268G5875G3132，G6238G1855个小G11925片G3355G2260地G3278定在一个车轮的边G13548，G19681G4584G1815G1226的位G13634与其中一个小G11925片的位G13634G11468G10043G5224，小车在行G20554过程中随着小G11925片与G19681G4584G1815G1226的位G13634G1863系，G19681G4584G1815G1226G1262产生G14045G1926G1461G2507。G17837G12193车G17907G18336程G15932G17728轴G8611G17728一G3292,G19681G4584G1268G5875G3132将G5875G522