机器人避障功能-毕业论文

摘要-I-摘要80C52单片机是一款八位单片机，它的易用性和多功能性受到了广大使用者的好评。这里介绍的是如何使用80C52单片机来实现智能小车的设计，该设计是结合科研项目而确定的设计类课题。本系统以设计题目的要求为目的，采用80C52单片机作为控制核心，采用红外传感器检测道路面上的障碍，控制智能小车的自动避障，快慢速行驶，按键开车停车，并可以实现自动记录行驶时间，自动避障，自动寻线功能。最终完成智能车设计需要综合单片机编程、模数电、Protel设计、电路焊接、自动控制算法设计等多方面内容。整个系统的电路结构简单，可靠性能高。实验测试结果满足要求，本文着重介绍了该系统的硬件设计方法及测试结果分析。采用的技术主要有：（1）通过编程来控制小车的速度；（2）传感器的有效应用；（3）显示译码管的使用。关键词：80C52单片机;光电检测器;PWM调速;智能小车ABSTRACT-II-DesignandcreateanintelligenceelectricitymotivesmallcarAbstract80C52isa8bitsinglechipcomputer.Itseasilyusingandmulti-functionbenefitlargeusers.ThisarticleintroducestheUESTCgraduationdesignwiththe80C52singlechipcomputer.Thisdesigncombineswithscientificresearchobject.Thissystemregardstherequestofthetopic,adopting80C52forcontrollingcore,infraredreflectionsensorfortestthehinder.Itcanruninahighandalowspeedorstopautomatically.Italsocanrecordthetime,distanceandthespeedorsearchinglightandmarkautomaticallytheelectriccircuitconstructionofwholesystemissimple,thefunctionisdependable.Experimenttestresultsatisfytherequest,thistextemphasizesintroducedthehardwaresystemdesignsandtheresultanalyze.Theadoptionoftechniqueas:(1)Speedcontrolbyprogramtheengine；(2)Efficientapplicationofthesensor;(3)Theadoptionofthenewdisplaychip.Keywords80C52singlechipcomputer;lightelectricitydetector;PWMspeedadjusting;Electricitymotivesmallcar目录-3-目录第一章引言........................................................6第二章方案设计与论证...............................................82.1微处理器(MCU)和场可编程逻辑门阵列(FPGA)的选择...............82.2直流电机和步进电机的选择...................................102.3舵机和万向轮的选择.........................................112.4最终元器件选择.............................................12第三章硬件设计....................................................143.1课题的方案论证..............................................143.1.1主要任务..............................................143.1.2功能要求..............................................143.1.3性能指标..............................................143.2课题工作....................................................143.3系统整体框图................................................153.4电源模块设计................................................153.5单片机最小系统设计..........................................153.6红外探测模块设计............................................173.7后轮电机驱动模块设计........................................183.8测速模块设计................................................223.9发光二级管电路的设计........................................233.10七段译码管电路的设计.......................................243.11蜂鸣器电路的设计...........................................263.12外接排针模块的设计.........................................263.13液晶显示屏电路的设计.......................................273.14DS1302模块的设计..........................................273.15M24C02BN6模块的设计.......................................273.16巡线模块的设计.............................................273.17火焰传感器的设计...........................................28第四章软件设计....................................................314.1基本原理....................................................314.2控制真值表和卡诺图..........................................314.3端口定义....................................................364.4头文件定义..................................................374.5延时函数定义................................................394.6PWM脉宽调制定义............................................394.7随机转向模块................................................404.8初始化模块..................................................414.9巡线模块....................................................424.10行驶控制模块...............................................43目录-4-4.11停车模块...................................................444.12按键检测模块和点火启动模块.................................454.13传感器检测模块.............................................464.14蜂鸣器模块.................................................474.15发光二级管模块.............................................484.16七段译码管模块.............................................484.17主函数模块.................................................494.18中断模块...................................................50第五章设计创新点..................................................525.1在算法上的创新点............................................525.1.1光线反射式避障........................................525.1.2多种避障算法结合......................................525.1.3U型死角自动倒车.......................................535.2在硬件上的创新点............................................535.2.1双核..................................................535.2.2点火启动..............................................545.2.3温度检测..............................................545.2.4日历显示..............................................555.2.5硬件可更改............................................555.2.6两种行驶方式..........................................555.3在程序上的创新点............................................555.3.1大量使用状态机........................................555.3.2车速预置..............................................565.3.3边沿判定..............................................565.3.4精确停车..............................................57第六章测试与调试..................................................586.1