【正文】 intelligent tracking and Ultrasonic Ranging obstacle avoidance function. By infrared sensors to collect road information to automatically control rotation of the motor in order to achieve change and obstacle avoidance car travel route, and when the small car ultrasonic sensor detects an obstacle, the buzzer alarm will be sent immediately Didi tick sound harsh. With the ultrasonic transmitter circuit and reception circuit reuse digital ultrasonic signal to show the distance between emission points and obstacles in order to achieve the car Ultrasonic Ranging function. Keywords： intelligent car； 51 MCU； tracing； avoidance III 目 錄 前 言 ............................................................................................................................... 1 第一章 緒論 ................................................................................................................... 2 課題研究的背景和意義 ....................................................................................... 2 課題研究內(nèi)容 ................................................................................................... 2 第二章 總體方案設(shè)計(jì) ..................................................................................................... 3 主 控系統(tǒng) .......................................................................................................... 3 小車驅(qū)動系統(tǒng) ................................................................................................... 3 系統(tǒng)框圖 .......................................................................................................... 3 系統(tǒng)原理圖 ...................................................................................................... 4 第三章 系統(tǒng)硬件設(shè)計(jì) ...................................................................................................... 6 單片機(jī)硬件結(jié)構(gòu) .............................................................................................. 6 單片機(jī)的選擇 .......................................................................................... 6 單片機(jī)引腳功能 ....................................................................................... 7 結(jié)構(gòu)特點(diǎn) ................................................................................................. 8 最小應(yīng)用系統(tǒng)設(shè)計(jì) ................................................................................... 9 時鐘電路 ............................................................................................... 10 復(fù)位電路 ................................................................................................11 直流調(diào)速系統(tǒng) ..................................................................................................11 L298N芯片直流電機(jī)驅(qū)動模塊 ......................................................................... 13 超聲波測距避障模塊 ...................................................................................... 14 超聲波發(fā)射電路設(shè)計(jì) .............................................................................. 15 超聲波接收電路設(shè)計(jì) .............................................................................. 15 紅外尋跡模塊 ................................................................................................. 16 蜂鳴器報(bào)警驅(qū)動電路 ...................................................................................... 17 數(shù)碼管顯示電路 ............................................................................................. 17 系統(tǒng)整體電路 ................................................................................................. 18 第四章 系統(tǒng)軟件設(shè)計(jì) ................................................................................................... 19 Proteus仿真軟件 ........................................................................................... 19 Keil for C51 ................................................................................................. 20 軟件程序 ........................................................................................................ 21 主程序設(shè)計(jì)框圖 ..................................................................................... 22 驅(qū)動程序框圖 ........................................................................................ 22 循跡程序框圖 ........................................................................................ 23 避障程序框圖 ........................................................................................ 23 參考文獻(xiàn) ........................................................................................................................ 24 致 謝 ................