【正文】 電機(jī)驅(qū)動(dòng)選擇 小車要向前行駛，必須要有動(dòng)力來驅(qū)動(dòng)輪子，因?yàn)槲覀冊(cè)诳刂菩≤嚨男羞M(jìn)時(shí)，并不是每個(gè)輪子的轉(zhuǎn)向轉(zhuǎn)速都一樣。相對(duì)于四輪驅(qū)動(dòng)的安全性、靈活性來說，兩輪驅(qū)動(dòng)也比較高。 論文主要由九部分組成，第一部分：主要介紹選題的目的意義，以及選題目前在國(guó)內(nèi)外的發(fā)展現(xiàn)狀。而且，在我國(guó)自主舉辦的全國(guó)大學(xué)生電子設(shè)計(jì)大賽中，智能小車出現(xiàn)的頻率也居高不下。從其中可以看出，由于國(guó)家層面的各種規(guī)劃和制度的出臺(tái)，讓我國(guó)機(jī)器人的發(fā)展得到更進(jìn)一步的提升。 韓國(guó)科學(xué)技術(shù)部在 20 世紀(jì)末推出的“二十一世紀(jì)的尖端研究計(jì)劃”，其中包括服務(wù)機(jī)器人，可適應(yīng)惡劣環(huán)境機(jī)器人，微型機(jī)器人和掃雷機(jī)器人項(xiàng)目。智能小車作為移動(dòng)機(jī)器人的基礎(chǔ)，在智能全球化的浪潮中，受到越來越大的沖擊，更多的高新技術(shù)和硬件設(shè) 備被應(yīng)用其中，使智能小車走出了只能用于比賽的模式，而更加廣泛的服務(wù)于大眾。在我所研究的自動(dòng)循跡避障系統(tǒng)中，我們可以利用小車來模擬汽車自動(dòng)避障功能，來避免現(xiàn)實(shí)中汽車因與障礙物碰撞而產(chǎn)生的車禍。于是，智能一詞越來越受到人們的關(guān)注。 關(guān)鍵詞 智能化，單片機(jī)，紅外對(duì)管，超聲波傳感器 ABSTRACT Along with the development of society, more and more intelligent attention. This design by simulating a car driving and automatic obstacle avoidance, to achieve intelligent. In this design, with STC89C52 SCM as the master chip, processing various signals received, and make corresponding feedback。我們可以分別對(duì)每一個(gè)功能部分來進(jìn)行調(diào)試，驅(qū)動(dòng)部分調(diào)試時(shí)，只要給電機(jī)向前或者向后的信號(hào)，就可以調(diào)試出其功能。在此設(shè)計(jì)中，用 STC89C52 單片機(jī)作為主控芯片，處理接收到的各種信號(hào)，并作出相應(yīng)的反饋；用紅外對(duì)管來進(jìn)行黑線檢測(cè)，從而達(dá)到循跡的目的；用超聲波傳感器來感知障礙物，實(shí)現(xiàn)避障功能；用 L298N 芯片來進(jìn)行驅(qū)動(dòng)，通過編寫的程序，保證了電機(jī)的左右轉(zhuǎn)動(dòng)，從而達(dá)到小車設(shè)計(jì)時(shí)預(yù)定的目標(biāo)。本設(shè)計(jì)通過模擬汽車的自動(dòng)行駛及避障功能，來實(shí)現(xiàn)智能 化。 由于小車在設(shè)計(jì)過程中，采用了模塊 化的設(shè)計(jì)思路，所以在進(jìn)行調(diào)試時(shí)非常方便。這種模塊化的設(shè)計(jì)思想不僅簡(jiǎn)化了設(shè)計(jì)過程，而且對(duì)我們以后的設(shè)計(jì)也會(huì)有一定啟發(fā)。 using L298N chip to be driven by written procedures to ensure that the motor is rotating around to achieve the desired goal when designing the car. In car design, a rigorous design process, using a block diagram of the module design, program flowchart design, programming and multiple design steps Schematic design. This ensures that the design process rigor, the error does not occur because of a single design system and make the entire system functions. As the car in the design process, using a modular design concept, so very convenient during debugging. We were part of each function for debugging, debugging driving part, as long as the motor forward or backward signal, you can debug the functionality. When debugging tracking part, simply by detecting the black line, to determine whether the black line running along, that you can debug a. Avoidance during missioning, we can put an obstacle in front of the car, and then look at the car two steering wheels. This modular design not only simplifies the design, but also for our future designs also have some inspiration. Key Words : Intelligent， SCM， Infrared to tube， Ultrasonic sensors 目 錄 第 1章 緒論 ................................................................................................................................. 1 智能小車的研究意義 ......................................................................................................... 1 智能小車 的現(xiàn)狀 ................................................................................................................ 1 論文研究?jī)?nèi)容與主要結(jié)構(gòu) .................................................................................................. 2 第 2章 方案選型 ............................................................................................................................ 3 ........................................................................................................................... 3 電機(jī)驅(qū)動(dòng)選擇 ................................................................................................................... 3 PWM調(diào)速技術(shù) .................................................................................................................... 4 循跡模塊技術(shù) ................................................................................................................... 5 避障模塊技術(shù) ................................................................................................................... 7 控制系統(tǒng)模塊 ................................................................................................................... 8 電源選擇 .......................................................................................................................... 9 第 3章 硬件電路設(shè)計(jì) ................................................................................................................... 10 ......................................................................................................................... 10 .................................................................................................................. 10 ...................................................................................................................11 循跡部分電路 ................................................................................................................. 13 避障部分電路 ................................................................................................................. 14 .................................................................................................................. 16 第 4章 程序設(shè)計(jì) .......................................................................................................................... 17 ............................................................................................................... 17 .................................................................................................................. 17 驅(qū)動(dòng)程序流程圖 .............................................................................................................. 18 循跡程序流程圖 .............................................................................................................. 18 避障程序流程圖 .............................................................................................................. 19 第 5章 制作安裝與調(diào)試 ..............................................................