基于单片机的智能手推车的研究与设计

基于单片机的智能手推车的研究与设计(论文10000字)
摘要：目前，智能服务机器人是一个非常热门的研究方向，已经逐步渗透到人们生活的各个方面。尤其是智能车辆的出现，以及在智能车辆基础上开发出来的产品已成为人们广泛关注的焦点。智能车系统，包括传感器信息采集与处理、电机驱动、控制算法及控制策略等方面。采用超声波模块检测智能手推车与障碍物之间的距离，将此信息发送给单片机芯片，由单片机控制手推车实现循迹与避障功能。
本设计是一种基于单片机控制的简易智能手推车，它是一种自动智能规划手推车的智能装置，在机场等使用手推车量比较大的场合，使手推车智能合理的自动导航运行并智能回收分布到所在场合的各个合理区域。此系统均采用模块化设计，只需利用仿真器将手推车程序烧入单片机中，然后用杜邦线连接单片机与各个模块，设计起来比较简易、方便。
该设计重点介绍智能手推车如何解决循迹以及避障问题。此系统的控制核心为AT89C51，手推车的速度和转向由占空比控制，占空比则通过定时器T0中断产生PWM波形来调整。利用超声波来检测障碍物与手推车之间的距离，通过循迹模块对路面进行检测，并将路面检测信号反馈给单片机，然后单片机对接收到的信号予以分析判断，并及时调整左右轮电机的转速来控制小车转向，从而使小车能够成功避开障碍物，并达到固定的目的地。
关键词：智能手推车、AT89C51单片机、循迹模块、电机驱动

Intelligent trolley research and design based on microcontroller
Abstract：Currently, intelligent service robot is a very popular research direction, it has gradually penetrated into every aspect of people's lives. Especially the emergence of intelligent vehicles and intelligent vehicles developed on the basis of products have become the focus of widespread concern. Intelligent vehicle systems, including sensor information acquisition and processing, motor drive, control algorithms and control strategies and so on. Ultrasonic module detects the distance between the obstacle and the intelligent trolley, send this information to a single chip, controlled by the microcontroller trolley implement tracking and obstacle avoidance capabilities.
The design is based on a simple trolley intelligent microprocessor controlled, intelligent device which is planning an automatic intelligent trolley, trolley larger than the case of using the airport, so that the trolley runs intelligent and reasonable automatic navigation and intelligent distribution to recycling where reasonable each region occasions. This system uses a modular design, using only the Stroller emulator program into the device, and then use Dupont line connected to the microcontroller and the various modules, design, relatively simple and convenient.
The design focuses on how to solve the intelligent trolley tracking and obstacle avoidance. Control of the core of this system is AT89C51, trolley speed and steering controlled by the duty cycle, the duty cycle through the timer T0 interrupt PWM waveform to adjust. The use of ultrasound to detect the distance between the obstacle and the trolley, on the road by a tracking module for testing, and the pavement detection signal feedback to the microcontroller, then microcontroller to be received signal analysis to determine and adjust the left and right wheel motor speed to control steering the car, so the car can successfully avoid obstacles, and to a fixed destination.
Key words: intelligent trolleys, AT89C51 microcontroller, tracking module, motor drive

目 录
1•绪论    1
1.1 课题背景    1
1.2 国内外的研究现状分析    1
1.3 课题研究的目的和意义    1
2•系统方案设计    2
2.1 技术方案    2
2.2 循迹原理    3
2.3 系统总体框图    3
2.3 轨迹探测模块    4
2.4 单片机控制模块    5
2.5 电机及驱动模块    6
2.6 电源模块    7
2.7 工作原理    8
2.8 本章小结    9
3•硬件设计    9
3.1 控制模块    9
3.2 超声波模块    10
3.3 舵机模块    12
3.4单片机最小系统设计    12
3.5 循迹模块    13
3.6 压力传感器模块    14
3.7 本章小结    15
4•软件设计    15
4.1 系统总体流程图    15
4.2 循迹算法    15
4.3 程序设计    16
4.4 本章小结    16
5•设计结果与分析    16
5.1 成品展示    16
5.2 循迹与避障    17
5.3 设计分析    18
6•结束语    18
参考文献      18
致谢    20