本科毕业设计(论文)
题目 自主循迹智能小车硬件设计
学院名称 电气工程与自动化学院
专业班级 学生姓名
导师姓名
2014年 6 月 1 日
摘 要
本文论述了基于单片机的智能循迹小车的控制过程。智能循迹是基于自动引导机器人系统，用以实现小车自动识别路线，以及选择正确的路线。智能循迹小车是一个运用传感器、单片机、电机驱动及自动控制等技术来实现按照预先设定的模式下，不受人为管理时能够自动实现循迹导航的高新科技。该技术已经应用于无人驾驶机动车，无人工厂，仓库，服务机器人等多种领域。
本设计采用STC89C52单片机作为小车的控制核心；采用TCRT5000红外反射式开关传感器作为小车的循迹模块来识别白色路面中央的黑色引导线，采集信号并将信号转换为能被单片机识别的数字信号；采用驱动芯片L298N构成双H桥控制直流电机，其中软件系统采用C程序，本设计的电路结构简单，容易实现，可靠性高。
关键词：单片机；自动循迹；驱动电路
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Abstract
This paper discusses the intelligent tracing electric trolley control process. Automatic tracing is used to make the car indentify route automatically , and choosing the right route, based on the automatic guide robot system. Intelligent tracing electric trolley is an advanced technology to realize automatic tracing navigation. It is out of human management but under the designed mode that use of the use of a transducer, single chip, motor drive and automatic control .This technology has been applied in unmanned vehicle, unmanned factory, warehouse, service robot and many other fields.
During the design of Intelligent tracing electric trolley, STC89C52 single clip is used as the control core; at the same time with TCRT5000 reflective infrared transducer switch to identify the black guide line at the central of the white road, which used as the car tracing module, it can gather the signal and transfer it into digital signal that can be recognized by single chip. And the driving chip L298N constitute the double H bridge constitute of driving chip L298N can control direct current motor. Among which the software system is using C program. In a nutshell, the design of the circuit has the advantages of simple structure, easy implementation, and high reliability.
Key words：single chip microcomputer; automatic tracing; driving circuit
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目 录
1 绪 论 .................................................................................................................................... 5
第一章 智能循迹小车概述 ............................................................................................ 5
1.1.1 循迹小车的发展历程回顾 ............................................................................ 5 1.1.2 智能循迹分类 ................................................................................................ 6 1.1.3 智能循迹小车的应用 .................................................................................... 7 1.2 智能循迹小车研究中的关键技术 ........................................................................... 8 第二章 智能循迹小车总体设计方案 ...................................................................................... 9
2.1 整体设计方案 ........................................................................................................... 9
2.1.1 系统设计步骤 ................................................................................................ 9 2.1.2 系统基本组成 ................................................................................................ 9 2.2 整体控制方案确定 ................................................................................................. 10 3 系统的硬件设计 ................................................................................................................ 10
3.1 单片机电路的设计 ................................................................................................. 10
3.1.1 单片机的功能特性描述 .............................................................................. 10 3.1.2 晶振电路 ...................................................................................................... 12 3.1.3 复位电路 ...................................................................................................... 12 3.2 传感器模块 ............................................................................................................. 14
3.2.1 传感器模块的一般工作原理 ........................................................................ 14 3.2.2红外对管的介绍 ............................................................................................. 14 3.2.3. 传感器模块的整体电路 ............................................................................... 15 3.3 电机驱动电路 .......................................................................................................... 16
3.3.1 L298N引脚结构 ......................................................................................... 17 3.3.2 电机驱动原理 ................................................................................................ 18 3.4 电源模块 ................................................................................................................. 21 3.5 小车运动逻辑 ......................................................................................................... 22 第四章 小车硬件的组装与调试 ............................................................ 错误！未定义书签。
4.1 小车的组装 ............................................................................. 错误！未定义书签。
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4.2 小车的硬件测试 ....................................................................................................... 26 结 论 ...................................................................................................................................... 27 致 谢 ...................................................................................................................................... 27 参考文献 .................................................................................................................................. 28 附录A 原理图 ...................................................................................................................... 30 附录B 程序代码 .................................................................................. 错误！未定义书签。 附录C 硬件实物图 .............................................................................. 错误！未定义书签。
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