單片機(jī)控制的智能電動(dòng)小車的設(shè)計(jì)

電子機(jī)電論文編號(hào):JD1074  論文字?jǐn)?shù):20137,頁數(shù):57

目  錄
摘 要 I
Abstract II
1 緒論 1
1.1 引言 1
1.2 課題來源 1
1.3 國(guó)內(nèi)外現(xiàn)狀 2
2 方案設(shè)計(jì)與論證 3
2.1 總體方案論證與比較 3
2.2 探測(cè)軌跡模塊 4
2.3 檢測(cè)金屬鐵片模塊 5
2.4 避障模塊 5
2.5 尋找光源模塊 6
2.6 顯示模塊 6
2.7 測(cè)量里程模塊 7
2.8 電動(dòng)機(jī)驅(qū)動(dòng)模塊 7
3 硬件電路設(shè)計(jì) 9
3.1 AT89C51單片機(jī)硬件結(jié)構(gòu) 9
3.2 探測(cè)軌跡電路 14
3.3 檢測(cè)金屬片電路 15
3.4 檢測(cè)障礙物電路 16
3.5 檢測(cè)光源電路 20
3.6 顯示電路 21
3.7 測(cè)量里程電路 22
3.8 電動(dòng)機(jī)驅(qū)動(dòng)電路 23
4 軟件設(shè)計(jì) 25
4.1 程序設(shè)計(jì) 25
4.2 主程序設(shè)計(jì) 25
4.3 探測(cè)金屬程序設(shè)計(jì) 30
4.4 測(cè)量里程程序設(shè)計(jì) 31
4.5 躲避障礙物子程序設(shè)計(jì) 32
4.6 部分模塊仿真 34
5 結(jié)束語 40
參考文獻(xiàn) 41
附錄 42
致謝 53 

摘 要
 智能電動(dòng)小車，是一個(gè)集環(huán)境感知、規(guī)劃決策、自動(dòng)行駛等功能于一體的綜合系統(tǒng)。它集中地運(yùn)用了計(jì)算機(jī)、傳感、信息、通信、導(dǎo)航、人工智能及自動(dòng)控制等技術(shù)，是典型的高新技術(shù)綜合體[1]。
 本文以AT89C51單片機(jī)為控制核心，采用模塊化的設(shè)計(jì)方案，運(yùn)用光電傳感器、金屬探測(cè)傳感器、超聲波傳感器等組成不同的檢測(cè)電路，實(shí)現(xiàn)小車在行駛中自動(dòng)尋跡、探測(cè)預(yù)埋金屬鐵片、躲避障礙物、測(cè)量里程等問題。利用光電傳感器進(jìn)行自動(dòng)尋跡，實(shí)現(xiàn)了小車能夠沿著黑線行走。利用超聲波傳感器檢測(cè)道路上的障礙物。采用金屬探測(cè)傳感器探測(cè)金屬鐵片。通過LCD1602記錄時(shí)間，最后在光源的引導(dǎo)下順利到達(dá)目的地，停車。
關(guān)鍵詞：AT89C51; 自動(dòng)尋跡; 金屬探測(cè); 超聲波測(cè)障 

Abstract
 Smart electric car is an integrated system that includes environmental awareness, planning decision-making, driving automatically and so on. It intensively uses the computer, sensing, information, communication, navigation, automatic control technology and artificial intelligence. It is a typical high-tech complex.
 This design adopts AT89C51 single chip computer of MCS-51 series. The core of the control circuit of AT89C51 to SCM adopts the modular structure design.The different detection circuits are composed of photoelectric sensor, metal detection sensors, ultrasonic sensors and so on. In the track, the intelligence car can automatically track orbit、detect the metal plates embedded、evade obstacles、measure mileage and so on. Using photoelectric sensor automatically track, it can make the car to walk along the black line. Using ultrasonic sensors, it can detect obstacles on the road. It can use the metals detection sensors to detect metal and record time by the LCD1602. At last, the car smoothly stops through the final guidance of light source.
Keywords: AT89C51 single chip microcomputer; automatically track orbit; detect the metal plates; ultrasonic barrier measurement