采用红外对射管实现其躲避障碍的功能，再利用火焰传感器检测周围火源，从而喷水将火焰熄灭。程序采用多文件编写，便于理解分析。且利于程序移植。(The infrared radiation tube is used to realize the function of avoiding obstacles, then the flame sensor is used to detect the surrounding fire source

灭火小车红外传感器测距程序，在灭火小车行进过程中，遇到障碍通过红外传感器探测并转向(Infrared sensor range finder program for fire extinguishing trolley)