【正文】 琳瑯滿目、特色各異的芯片中選擇合適的貨架產(chǎn)品。新型單片機(jī)為了更好靈活地適應(yīng)不同領(lǐng)域的應(yīng)用，除了具有這些傳統(tǒng)的數(shù)字功能外，還提供模擬功能，甚至射頻功能，它們不僅是可編程的，而且是可動(dòng)態(tài)重構(gòu)的。近些年來(lái)，單片機(jī)技術(shù)的發(fā)展已達(dá)到了相當(dāng)高的水平，一些新型單片機(jī)層出不窮，技術(shù)日新月異。重點(diǎn)研究低成本的自組織網(wǎng)絡(luò)，個(gè)性化的智能機(jī)器人和人機(jī)交互系統(tǒng)、高柔性免受攻擊的數(shù)據(jù)網(wǎng)絡(luò)和先進(jìn)的信息安全系統(tǒng)。《國(guó)家中長(zhǎng)期科學(xué)和技術(shù)發(fā)展規(guī)劃綱要》一文指出：智能服務(wù)機(jī)器人是在非結(jié)構(gòu)環(huán)境下為人類提供必要服務(wù)的多種高技術(shù)集成的智能化裝備。 Smart car 東華理工大學(xué)大學(xué)生科技創(chuàng)新基金項(xiàng)目 目 錄 前言 ..................................................................................................................................... 1 1 方案設(shè)計(jì)與論證 ............................................................................................................. 2 總 體方案選擇 ........................................................................................................ 2 各模塊方案選擇與論證 ........................................................................................ 2 控制器模塊 ........................................................................................................................ 2 避障模塊 ............................................................................................................................ 3 尋線模塊 ..................................................................................................... 3 直流調(diào)速模塊 ........................................................................................... 6 車速檢測(cè)模塊 ............................................................................................. 7 電機(jī)驅(qū)動(dòng)模塊 ............................................................................................. 8 電源模塊 ..................................................................................................... 8 系統(tǒng)各模塊最終方案 ............................................................................................ 8 2 硬件系統(tǒng)的設(shè)計(jì)與實(shí)現(xiàn) ............................................................................................................... 9 電源電路設(shè)計(jì) ..................................................................................................................... 9 檢測(cè)電路設(shè)計(jì) ..................................................................................................................... 9 電機(jī)控制電路設(shè)計(jì) ......................................................................................................... 10 PWM 調(diào)速設(shè)計(jì) ................................................................................................................ 11 舵機(jī)方向控制設(shè)計(jì) ............................................................................................. 12 3 軟件系統(tǒng)的 設(shè)計(jì)與實(shí)現(xiàn) ................................................................................................ 13 系統(tǒng)軟件設(shè)計(jì)與調(diào)試 ........................................................................................................ 13 軟件抗干擾技術(shù) ................................................................................................... 13 數(shù)字濾波技術(shù) ............................................................................................ 14 開(kāi)關(guān)量的軟件抗干擾技術(shù) ......................................................................... 14 指令冗余技術(shù) ............................................................................................. 14 軟件陷阱技術(shù) ............................................................................................. 15 4 系統(tǒng)測(cè)試與調(diào)整 ............................................................................................................ 16 電路硬件測(cè)試 ........................................................................................................ 16 系統(tǒng)實(shí)現(xiàn)功能測(cè)試 ................................................................................................ 16 整車測(cè)試 ................................................................................................................ 16 總結(jié) .................................................................................................................................. 17 致謝 .................................................................................................................................. 18 參考文獻(xiàn) ............................................................................................................................ 19 附錄 .................................................................................................................................. 20 東華理工大學(xué)大學(xué)生科技創(chuàng)新基金項(xiàng)目 前 言 當(dāng)今社會(huì)，科學(xué)技術(shù)日新月異，時(shí)代前進(jìn)的步伐越邁越寬，應(yīng)用自動(dòng)化設(shè)備 ,計(jì)算機(jī)處理 ,現(xiàn)代化通訊 ,數(shù)字化信息 ,現(xiàn)代化顯示設(shè)備等高新技術(shù)而建立的現(xiàn)代化智能 ,監(jiān)控等系統(tǒng)已經(jīng)得到充分的發(fā)展與應(yīng)用 ,智能機(jī)器人也就應(yīng)運(yùn)而生。 Obstacle avoidance seeking line system。 關(guān)鍵詞： PIC16F877A； 紅外線傳感器； 避障尋線系統(tǒng)； PWM 調(diào)速； 智能小車 東華理工大學(xué)大學(xué)生科技創(chuàng)新基金項(xiàng)目 ABSTRACT PIC16F877A microcontroller is an 8 bit MCU made by MicroChip pany, its ease of use and versatility are the majority of users praise,its rich peripheral function modules for our design provides convenience. Here is how to capture the signal using infrared sensors and through MCU control to achieve obstacle avoidance function of linetracking car design, the design is a bination of scientific research and to determine the design of class topics. The system design requirements for the purpose of the subject and had a car function expansion. PIC16F877A microcontroller to control the car using the core, intelligent car of the intelligent control, including the Smart obstacle avoidance, road hunting, PWM speed control, speed and realtime display speed and other functions. A simple circuit structure of the system reliability can be high. Experimental test results meet the requirements, this article highlights the program demonstration of the system, hardware design methods and test results analysis. Key words： PIC16F877A single chip puter。整個(gè)系統(tǒng)的電路結(jié)構(gòu)簡(jiǎn)單，可靠 性能高。本系統(tǒng)以設(shè)計(jì)題目的要求為目的，并進(jìn)行了小車功能的拓展。東華理工大學(xué)大學(xué)生科技創(chuàng)新基金項(xiàng)目 摘 要 PIC16F877A 單片機(jī)是 MicroChip 公司生產(chǎn)一款八位單片機(jī)，它