CAJ | 학술논문

设计一个基于MSP430F169单片机的智能灭火小车，系统由电机驱动、距离传感器、灰度传感器、火焰传感器模块组成。通过距离传感器判断小车的行驶状态，改变2路PWM信号的占空比驱动左右轮运动，确保小车在规定场地上不碰擦墙壁。当检测到门口白线时，启动火焰传感器检测房间内有无火源。如果检测到火源则进一步调整位置灭火，如果没有发现火源则继续搜索其他房间后返回原点。经试验测试，小车能在规则内自主完成灭火任务。
설계일개기우MSP430F169단편궤적지능멸화소차，계통유전궤구동、거리전감기、회도전감기、화염전감기모괴조성。통과거리전감기판단소차적행사상태，개변2로PWM신호적점공비구동좌우륜운동，학보소차재규정장지상불팽찰장벽。당검측도문구백선시，계동화염전감기검측방간내유무화원。여과검측도화원칙진일보조정위치멸화，여과몰유발현화원칙계속수색기타방간후반회원점。경시험측시，소차능재규칙내자주완성멸화임무。
Based on MSP430F169 MCU,an intelligent fire-fighting car is designed whose system is composed of a motor module,grayscale sensor module,a distance sensor module and a flame sensor module. Six distance sensors control the travelling attitude of the car and the car’s left and right wheels are driven by changing the duty cycle of the 2-channel PWM signals to ensure that the car will not graze walls on its specified venue. The flame sensor is started to search the source of fire on touching the white line at the gate. If the fire is located,it further adjusts its position to extinguish the fire. Otherwise,it continues to search the other rooms and returns where it starts. By testing,the intelligent fire-fighting car can complete its task automatically within the rules.