基于单片机的智能循迹避障小车(附电路原理图,程序清单)

基于单片机的智能循迹避障小车(附电路原理图,程序清单)(论文10000字)
摘要：目前，移动机器人的开发和研究越来越令人瞩目，而智能循迹壁障小车作为移动机器人的一个重要分支，非常值得我们探索和讨论。智能循迹功能以智能导航系统为主要功能模块，帮助小车能够实现自主实现识别和判断正确路线的功能。智能循迹避障小车可以在没有人为管理的情况下实现智能寻迹导航功能以及避开阻碍障碍物功能，设定智能小车的预定模式，根据其预定的功能需求应用传感器技术、自动控制技术以及电机驱动技术等手段来完成小车的设计，并且探索开发新功能。该技术已经应用于仓库、无人驾驶车辆、服务机器人以及无人工厂等领域。
以STC89C52单片机为控制核心，以红外反射开关传感器为主要器件的循迹模块判断白色路面中间的黑色预定路径；传感器数据即时传输回控制系统，系统将信号转换成单片机能够识别的数字信号。L298N作为驱动芯片构成双H桥以控制直流电机；软件系统采用C程序。小车运行过程中同时不间断地检测每个模块传感器的输入信号，循迹模块实时检测5路循迹模块在黑线跑道上的状态，在小车跑出设定限制范围以外的时候，智能汽车可以独立调整汽车的方向和位置。避障模块在智能汽车运行的可以同时探测前方是否有障碍物以及小车实时距离障碍物的距离，当前方障碍物距离小于20厘米时，小车将避开障碍物，向后折返继续循迹运行。LCD1602液晶显示器能够显示智能汽车和前方障碍物之间的距离，智能小车的驱动部分采用L298驱动芯片。此设计的电路结构简单，可靠性高，易于实现。
关键词: 循迹壁障小车；STC89C52单片机；驱动芯片（L298）

Intelligent tracking obstacle avoidance car based on single-chip
Abstract: At present, the development and research of mobile robot is more and more remarkable, and intelligent tracking walls car as an important branch of mobile robots, a very worthy of our exploration and discussion. Intelligent tracking function has intelligent navigation system as the main functional modules, and help the car can be implemented independently implement recognition and the function of the right route. Intelligent tracking obstacle avoidance car can be implemented in the absence of human management of intelligent tracing navigation function and to avoid blocking barrier function, set the smart car reservation mode, according to its intended functional requirements of the application of sensor technology, automatic control technology, and motor drive technology and other means to complete the design of the car, and explore the development of new functions. This technology has been applied in warehouse, unmanned vehicle, service robots and unmanned factory, etc.
STC89C52 single-chip microcomputer as control core, infrared reflection switch sensor as the main components of tracking module to judge white road surface in the middle of the black scheduled path; Sensor data real-time transmission back to the control system, the system will signal into digital signal of single-chip computer can recognize.L298N as drive chip constitute two H bridge to control dc motor; Software system USES the C program. Car run continuously at the same time in the process of testing each module of the sensor input signal, tracking module 5 road tracking real-time detection module in the state of the black line on the runway, beyond the limits of the car ran out of the set limits, smart cars can adjust the direction of the car and independent position. Obstacle avoidance module in the smart car running can detect whether the obstacles and the car ahead at the same time the real-time distance barrier, the current party obstacle distance less than 20 centimeters, the car will avoid obstacles, continued to run turn-back back tracking.LCD1602 LCD can display the distance between the smart car and obstacles ahead, intelligent car driving part adopts L298 drive chip. The design of the circuit structure is simple, high reliability, easy to implement.
Key words: Tracking walls car; STC89C52 single-chip microcomputer; Drive chip (L298)
 

目  录
1 引言    1
1.1 国内外研究动态    1
1.2 课题的目的和意义    1
2 循迹避障小车总体方案设计    2
3系统方案比较、设计与论证    2
3.1 主控系统    2
3.2循迹模块    3
3.3避障模块    3
3.4电机驱动模块    4
3.5机械模块    4
3.6电源模块    4
4芯片资料简介    5
4.1L298N电机驱动模块    5
4.2LCD显示模块    7
4.3STC89C52单片机的简介    8
5 硬件实现及单元电路设计    10
5.1主控制模块    10
5.2液晶显示模块电路设计    11
5.3电机驱动模块的设计    11
5.4避障模块的设计    12
5.5循迹模块电路设计    13
5.6电源部分的设计    14
6系统软件设计    14
6.1 程序结构分析    14
6.2系统程序流图    15
7 系统调试及实验    15
8 小结    18
致谢    19
参考文献    19
附录一 整体电路原理图    20
附录二 部分源程序    20