【正文】 .................................... 2 控制核心方案設(shè)計 ........................................................................................................... 2 控制系統(tǒng)總體設(shè)計 .......................................................................................................... 3 第三章 履帶車電路設(shè)計 .......................................................................................................... 4 主控電路設(shè) 計 .................................................................................................................. 4 單片機最小系統(tǒng) ..................................................................................................... 4 復(fù)位電路 ................................................................................................................. 4 穩(wěn)壓電源模塊 .................................................................................................................. 5 LED 顯示模塊設(shè)計 .......................................................................................................... 6 驅(qū)動模塊設(shè)計 .................................................................................................................. 7 驅(qū)動芯片選型 ........................................................................................................... 8 驅(qū)動電路設(shè)計 ........................................................................................................... 9 循跡電路設(shè)計 ................................................................................................................ 10 循跡傳感器 ............................................................................................................. 10 避障傳感器設(shè)計 ..................................................................................................... 11 蜂鳴器驅(qū)動模塊設(shè)計 .................................................................................................... 12 履帶車車體 .................................................................................................................... 13 第四章 行駛方案設(shè)計 ............................................................................................................ 14 循跡方案設(shè)計 ................................................................................................................. 15 循跡流程圖 ............................................................................................................. 16 循跡程序設(shè)計 ......................................................................................................... 17 避障方案 ......................................................................................................................... 18 避障流程圖 ............................................................................................................. 19 避障程序設(shè)計 ......................................................................................................... 20 總體方案 ........................................................................................................................ 22 第五章 制作與調(diào)試 ................................................................................................................ 24 PCB 設(shè)計與制作 ............................................................................................................ 24 履帶車的安裝調(diào)試 ........................................................................................................ 24 履帶車總體調(diào)試運行 .................................................................................................... 25 第六章 結(jié)論 ............................................................................................................................ 26 結(jié)束語 ...................................................................................................................................... 27 致謝 .......................................................................................................................................... 28 參考文獻(xiàn) .................................................................................................................................. 29 附錄 .......................................................................................................................................... 30 1 第一章 前言 目前我們能見到各式 各樣的履帶車，其中最為大家熟悉的是坦克 。s highend toys, the lack of technology to make amends. The main techniques are: (1) sensor is effective use, (2) the application of SCM, (3) for motor control. Key words: crawler。 本設(shè)計主要體現(xiàn)小車的自主控制 直流電機運行 達(dá)到智能的目的， 綜合多個科目知識，從電系統(tǒng)路到軟件系統(tǒng)設(shè)計完善， 整個 系統(tǒng)結(jié)構(gòu)緊湊 ， 硬件制作簡易， 具有較高的 可行性和 可靠性，實驗測試結(jié)果滿足要求 。利用 紅外傳感器控制履帶車自動避開前方障礙 和自動尋跡動作，實現(xiàn)小車的前進(jìn)、后退、轉(zhuǎn)彎功能。 關(guān)鍵詞 ： 履帶小車；單片機； STC12CA60S2；尋跡；避障 Abstract This design is based on SCM STC12C5A08S2crawler for power control. Use infrared sensors to control of tracked vehicle can automatically avoid obstacles ahead and automatic tracing action, realize the car forward, backward, turning function. This design mainly car of the autonomic control of DC motor operation to achieve intelligent, integrated many subjects knowledge, from the electrical system to improve the way software system design, the system has the advantages of pact structure, simple hardware manufacture, with hig