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1、Control System DesignHarbinHarbinHarbin InstituteInstituteInstitute ofofof TechnologyTechnologyTechnologyControl System Design基于基于 AVR 的智能灭火机器人设计的智能灭火机器人设计 Design of an Intelligent Fire-fighting Robot Based on AVR院院 系：系：控制科学与机控制科学与机电电工程工程 班班 级级： ：09 控制科学与工程控制科学与工程 指指导导教教师师： ：李建李建刚刚 黄瑞宁黄瑞宁 姓姓 名：名：张张永
2、永胜胜 杨杨月耀月耀 何何 峰峰 2AbstractThe VEX uses ATmega16 as the control module. The fire detection part of the system uses the flame sensor which is a kind of infrared sensor. The procession module will use DC motor and the steering module will use steering motor. The system adopts optimized software algorit
3、hms to achieve detect and distinguish the fire automatically.Keywords: ATmega16; Flame sensor; PWM; Fire-fighting robot; 3ContentsAbstract.2Chapter1. System design.41.1 Design task.41.2 design requirements.41.3 system design plan.41.3.1 Project demonstration.5 1.3.2 final program of each module.6Cha
4、pter2. Hardware circuit design.72.1 Component selection.72.2 Testing parameters of components.7Chapter 3 Circuit Diagram .83.1 ISP download line diagram .83.2 SCM periphery of the circuit principle diagram .9Chapter4.Programming and Debugging.104.1 Programming software: ICCAVR.104.2 Program flow cha
5、rt.10Chapter5. Experiments and Improvement.13Chapter6. Conclusions.14Acknowledgement .15References .16Appendix 1: table of components and parts .17Appendix 2: source code.184Chapter1. System design1.1 Design taskWe will design a Fire car, named VEX, to go to the designated areas for detecting and ex
6、tinguishing fires. The fires are simulated by candles and randomly distributed in the venue. The venue as shown below:Fig1. The field1.2 design requirements(1) VEX will boot from the security zone and find the source of fire automatically. (2) In addition to security, several fires are random placed
7、, vex can detect fires and extinguish them completely. (3) After several times collisions, the task will stop.1.3 system design planThe whole system can be divided into control part and the signal detection section. Signal detection section includes: fire detection module. Control section includes:
8、DC motor drive module, steering motor module, micro controller module. To achieve the functions of each module, several different designs are to be demonstrated. Block diagram shown in Figure.Safety zonesVEX5Fig 2 system diagram1.3.1 Project demonstration(1) VEX structureAccording the material of th
9、e lab, we use the building block to build the structure of the VEX. This method is very convenient for us to arrange the rest module of the system. The system is in figure 2.Fig3. VEX structure(2) Control module We have three motor to control, so we need a SCM that can seed three ways of PWM singles
10、. Atmega16, a product made by ATM Corporation, satisfies our requirements. And the chip is very cheap. So we choose Atmega16 as our control AVR16FanSteering motorFire sensorDrive motorCollision switch6module. （3）Flame sensormodule The fire module is used to detect the location of the fire. When the
11、system detect the location, the sensor will send the signal to SCM, and then the SCM control the car proceeding. We have two choices. Program1: Flame sensor. Flame sensor, an integrated light and heat detector, will induct the fire when the environment state changes. And then send the signal to the microcontroller for making the appropriate response. Flame sensor senses the distance quite far and the detecting location is also very accurate. Program2: temperature sensor. As the fire source will produce a great heat, so
