摘要 智能技术日益进步，人工劳动力逐渐由智能化机器来代替，特别是在工厂运输中，智能车得到广泛应用，本设计便是对此进行研究。本设计系统以STC系列单片机为控制核心，利用红外探测法探测行驶轨道的黑线引导线实现寻迹功能以及避障检测。采用直流电机驱动小车的两个前轮控制小车的行驶方向，用一个万向转向轮作为后轮起辅助和支撑作用。采用PWM技术调节占空比方法来控制直流电机的转速，从而使小车能够自动循着黑线前进，同时避开前进路程中的障碍物。41872

毕业论文关键词：STC12C5A60S2单片机；自动避障寻迹小车；光电传感器

毕业设计说明书外文摘要

Title    Design of Autonomous Tracing System in Intelligent Vehicle Based on Photoelectric Detection                 

Abstract

Smart technology is becoming more and more progress.Intelligent machines replace human labor gradually.Especially in the transportation,smart vehicle is widely used.The topic is to research a smart vehicle.The STC Series Single Chip Microcomputer is taken as the key control unit of the designed system, and the infrared detection method is used to detect the black guiding line so as to realize the functions of following track and detecting and dodging obstacles. The two front wheels are driven by a DC motor so as to control the driving direction of the small vehicle, and an omni-directional steering wheel is used as a back wheel to assist and support the movement of the vehicle. PWM technology is used to adjust the duty cycle in order to control the rotate speed of the DC motor, so as to let the vehicle move forward following the black line automatically and, meanwhile, dodging the obstacles in the path. 

Key words: STC12C5A60S2 Single Chip Microcomputer; small vehicle following tracks and dodging obstacles automatically; photoelectric sensor 

目   次

1 绪论 1

1.1 课题研究的背景及意义 1

1.2 国内外发展现状 1

1.3 本设计主要研究工作以及设计应达要求 2

2 小车系统元件原理 3

2.1 STC89C5A60S2单片机 3

2.2 L293D驱动芯片 4

2.3 直流电机 6

2.4 红外对管 7

3. 系统硬件设计 8

3.1 主板设计框图 8

3.2 电源电路 8

3.3 寻迹电路 9

3.4 避障电路 11

3.5 单片机最小系统 12

3.6 电机驱动电路 12

4 软件设计 14

4.1 接线定义 14

4.2 电机驱动定义 14

4.3 寻迹部分 15

4.4 避障部分 17

4.5 延时程序 18

5 小车制作与调试 19

5.1 焊接 19

5.2 寻迹以及避障电路调试 20

5.3 小车装配 20

5.4 程序烧制与调试 21

结 论