基于51单片机小车的循迹避障系统

毕业论文（设计）题目：基于51单片机的小车循迹避障系统学院：电气工程学院学号：姓名：专业年级：指导老师：基于51单片机的小车循迹避障系统专业：电子信息工程姓名：指导教师：摘要随着社会的发展，智能化越来越受到人们的关注。本设计通过模拟汽车的自动行驶及避障功能，来实现智能化。在此设计中，用STC89C52单片机作为主控芯片，处理接收到的各种信号，并作出相应的反馈；用红外对管来进行黑线检测，从而达到循迹的目的；用超声波传感器来感知障碍物，实现避障功能；用L298N芯片来进行驱动，通过编写的程序，保证了电机的左右转动，从而达到小车设计时预定的目标。在本小车的设计中，有着严格的设计过程，采用了模块结构框图设计、程序流程图设计、程序设计以及电路图设计等多个设计步骤。这样就可以保证在设计过程中的严密性，不会因为单一设计体系而使整个系统功能出现错误。由于小车在设计过程中，采用了模块化的设计思路，所以在进行调试时非常方便。我们可以分别对每一个功能部分来进行调试，驱动部分调试时，只要给电机向前或者向后的信号，就可以调试出其功能。循迹部分调试时，只要通过检测到黑线，判断是否沿黑线行驶，即可以调试出。在进行避障调试中，我们可以把障碍物放在小车前方，然后看小车两个轮子的转向。这种模块化的设计思想不仅简化了设计过程，而且对我们以后的设计也会有一定启发。关键词智能化，单片机，红外对管，超声波传感器ABSTRACTAlongwiththedevelopmentofsociety,moreandmoreintelligentattention.Thisdesignbysimulatingacardrivingandautomaticobstacleavoidance,toachieveintelligent.Inthisdesign,withSTC89C52SCMasthemasterchip,processingvarioussignalsreceived,andmakecorrespondingfeedback;usingInfraredtotubetodetecttheblackline,soastoachievethepurposeoftracking;usingultrasonicsensorstoperceiveobstaclesthingtorealizeobstacleavoidancefunction;usingL298Nchiptobedrivenbywrittenprocedurestoensurethatthemotorisrotatingaroundtoachievethedesiredgoalwhendesigningthecar.Incardesign,arigorousdesignprocess,usingablockdiagramofthemoduledesign,programflowchartdesign,programmingandmultipledesignstepsSchematicdesign.Thisensuresthatthedesignprocessrigor,theerrordoesnotoccurbecauseofasingledesignsystemandmaketheentiresystemfunctions.Asthecarinthedesignprocess,usingamodulardesignconcept,soveryconvenientduringdebugging.Wewerepartofeachfunctionfordebugging,debuggingdrivingpart,aslongasthemotorforwardorbackwardsignal,youcandebugthefunctionality.Whendebuggingtrackingpart,simplybydetectingtheblackline,todeterminewhethertheblacklinerunningalong,thatyoucandebuga.Avoidanceduringcommissioning,wecanputanobstacleinfrontofthecar,andthenlookatthecartwosteeringwheels.Thismodulardesignnotonlysimplifiesthedesign,butalsoforourfuturedesignsalsohavesomeinspiration.KeyWords:Intelligent，SCM，Infraredtotube，Ultrasonicsensors目录第1章绪论....................................................................................................................................................11.1智能小车的研究意义........................................................................................................................11.2智能小车的现状................................................................................................................................11.3论文研究内容与主要结构................................................................................................................2第2章方案选型..............................................................................................................................................32.1车体设计.............................................................................................................................................32.2电机驱动选择....................................................................................................................................32.3PWM调速技术.....................................................................................................................................42.4循迹模块技术....................................................................................................................................52.5避障模块技术....................................................................................................................................72.6控制系统模块....................................................................................................................................82.7电源选择............................................................................................................................................9第3章硬件电路设计....................................................................................................................................103.1总体设计...........................................................................................................................................103.2电源电路设计...................................................................................................................................103.3驱动电路设计...................................................................................................................................113.4循迹部分电路..................................................................................................................................133.5避障部分电路..................................................................................................................................143.4主控电路设计...................................................................................................................................16第4章程序设计............................................................................................................................................174.1主程序设计概述...............................................................................................................................174.2主程序流程图..................