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 so as to extinguish the flame