智能寻迹电动小汽车

无锡职业技术学院系别（分院，部）电子与信息技术学院班级电子工艺20631 姓名沃进学号2031063131 课题名称智能寻迹电动小汽车成绩______ 毕业实践任务书份 1 答辨表___________份毕业设计说明书（论文）1份共___25___ 页外文翻译 1 份共___7__ 页另附图（表）20个共____20__ 页其它材料 2 份共10 页_2009____年____4__月__13____日无锡职业技术学院系别（分院）电子与信息技术学院班级电子工艺20631姓名沃进_学号 2031063131课题名称智能寻迹电动小汽车_ 指导教师_ 罗惠敏职称_副教授__指导老师丁明职称工程师2009年4月13日毕业设计说明书目录毕业实践任务书------------------------------- ---------------------------------5 外文翻译-----------------------------------------------------------------------6毕业实践调研报告--------------------------------------------------------------19毕业设计说明书--------------------------------------------------------------- 221．绪论---------------------------------------------------------------221.1 概述-------------------------------------------------------------221.2 设计方案的提出---------------------------------------------------------221.3 设计的依据-------------------------------------------------------------232. 系统各模块的设计方案-----------------------------------------------------232.1单片机芯片的选择---------------------------- ---------------------------242.1.1 AT89C52 与 AT89C51 的区别------------------------------------252.1.2 AT89C52的选择------------------------------------------------------252.2 直流电机驱动模块-------------------------------------------------------252.3 黑色标志线检测模块-----------------------------------------------------252.4 速度测量检测电路的选择-------------------------------------------------262.5 电源模块--------------------------------------------------------------262.6 键盘及显示电路---------------------------------------------------------262.7 模块设计方案-----------------------------------------------------------263. 系统硬件设备的设计与实现------------------------------------------------273.1 直流电机驱动模块的电路设计与实现--------------------------------------273.1.1 PWM的工作方式--------------------------------------------------------273.1.2 PWM驱动模块的电路设计与实现------------------------------------------283.2 黑色标志线检测模块的电路设计与实现----------------------------------303.3 速度检测模块的电路设计与实现-------------------------------------------313.4 电源模块--------------------------------------------------------323.5 键盘及显示电路---------------------------------------- ----------------324. 系统的软件设计--------------------------------------------------------334.1 2189C2051的路面检测程序流程图------------------------------------344.1.1 89C2051的简介--------------------------------------------------------344.1.2 89C2051的路面检测程序-----------------------------------------------354.2 89C52的主控程序8962的中断和定时器资源配制--------------------------354.3 黑线计数(中断服务程序0)流程图------------------------------------------354.4 车速检测(中断服务程序1) 流程图----------------------------------------364.5 定时器服务程序流程图---------------------------------------------------364.6 限速子程序流程图-------------------------------------------------------374.7 过线返回流程图------------------------------------------------------384.8 显示和播报程序------------------------------------------------------384.9 主结构流程图----------------------------------------------------------384.10 系统内存资源的分配-----------------------------------------------394.11 初始化程序设计--------------------------------------------------------42 毕业实践总结----------------------------------------------------------------- 43 参考文献--------------------------------------------------------------------- 45 附录-------------------------------------------------------------- -----------471.1（智能寻迹电动小汽车源程序）---------------------------------- - ---------47 1.2（单片机控制小车自动运行设计硬件图）--------------------------------------55毕业实践任务书无锡职业技术学院毕业实践任务书课题名称智能寻迹电动小汽车指导教师罗惠敏职称副教授指导教师丁明职称工程师专业名称电子工艺与管理班级电子工艺20631学生姓名沃进学号2031063131课题需要完成的任务：1.根据技术指标进行可行性方案分析及方案论述2.硬件的框图及电路设计3.软件的框图及软件编程设计4.传感器、显示器件、各主要器件、单元电路等的选用方案，性能分析及功能介绍。

5.硬件电路的电路图6.软件的程序清单7.毕业设计小结课题计划：3.7～3.14 查资料，进行初步方案设计。

3.15～3.18 设计最佳方案；学习使用专用软件编程。

3.19～4.10 设计电路，编制程序，实际调试，写毕业论文。

4.11～4.20 修改、完善毕业论文，并做答辩准备。

计划答辩时间：4.13～4.19电子信息技术学院（部、分院）2009 年02 月15 日外文翻译英文版monolithic integrated circuit compositionMonolithic confidential automatically completes the computation, which should it have most important part?We take operate an abacus as the example computation together arithmetic topic. Example: 36 + 163¡Á156 - 166¡Â34. Now must carry on the operation, fir st needs an abacus, next is the paper and the pen. We the question which must calculate record, then first step calculates first 163¡Á156, with the result which 36 adds together records it on the paper, then the computation 166¡Â34, then subtracts it from the previous result, obtains the final result.Now, we use the monolithic integrated circuit to complete the above process, obviously, it first must have replaces the abacus to carry on the operation the part, this is "the logic unit"; Next, must have can play to the paper and the pen role component, namely can remember the primitive topic, the primary data and the intermediate result, but also must remember causes the monolithic function automatically to carry on each kind of order which the operation but establishes. This kind of component is called "the memory". In addition, but also needs to have can replace the controller which the human affects, it can act according to the order which beforehand assigns to send out each kind of control signal, enables the entire computation process one to carry on step by step. But the light has these three parts to be also insufficient, the primitive data and the order needs to input, the computation result must output, all needs according to in turn to carry on successively, sometimes also must wait for.Like on in example, when when computation 163¡Á156, the numeral 36 cannot at the same time enter the logic unit. Therefore needs to establish on the monolithic integrated circuit according to the controller order carries on the movement "the gate", when the logic unit needs, lets the recent data enter. Or, when the logic unit obtains the final output, again this result output, but the intermediate result cannot be casual "slips away" the monolithic integrated circuit. This kind to inputs, the output data carries on the certain management "the gate" the electric circuit to be called "the mouth" in the monolithic integrated circuit (Port). In the monolithic integrated circuit, basically has three kind of information in to flow, a kind is a data, namely each kind of primary data (for example on in example 36, 163 and so on), intermediate result (for example 166¡Â34 obtained business 4, complement of a number 30 and so on), procedure (order set) and so on. This must pass "the mouth" by the external instrumentation to enter the monolithic integrated circuit, again deposits in the memory, in the operation treating processes, the data carries on the operation from the memory read-in logic unit, the operation intermediate result must store in the memory, or finally passes through "the access" by the logic unit to output.The user wants each kind of order which the monolithic integrated circuit carries out (procedure) also by the data form by the memory to send in the controller,(decoding) becomes each kind of control signal after controller ½â¶Á, in order to carries out like adds, reduces, while, eliminates and so on function each kind of order. Therefore, this kind of information is called the control command, namely controls the logic unit by the controller one to carry on the operation and processing step by step, also controls the memory to read (takes out data) and writes (log data) and so on. The third kind of information is the address information, its function is tells the logic unit and the controller takes the order fetching in where according to, finally will deposit to any place, through which mouth input and output information and so on.The memory divides into the read-only memory and the read-write memory two kinds, former depositing debugs the fixed routine and the constant, latter deposits some to have the data as necessary which the possibility changes. As the name suggests, the read-only memory once stores the data, only can read out, cannot change (EPROM, E2PROM of the same kind ROM may change, read in data - editor through certain method to pour). But the read-write memory may store or the readout as necessary.In fact, the people often are called the logic unit and the controller merge central processing element - CPU. The monolithic integrated circuit besides carries on the operation, but also must complete the control function. Therefore cannot leave counts with fixed time. Therefore, has the timer concurrently counter in the monolithic integrated circuit on the establishment, its basic structure with this serializes (2) center to give an example to be similar. To here up to, we had already known the monolithic integrated circuit basic composition, namely the monolithic integrated circuit was by the central processor (namely in the CPU logic unit and controller), the read-only memory (usual expression is ROM), the read-write memory (called stochastic memory usual expression is RAM), the input/The outlet (also divides into the parallel mouth and the serial mouth, the expression is I/O) and so on composition. In fact inside the monolithic integrated circuit also has a clock electric circuit, causes the monolithic integrated circuit when carries on the operation and the control, all can have the rhythm to carry on. Moreover, but also has "the interruption system" so-called, this system has "the reception room" function, when when the monolithic integrated circuit controlled member parameter arrives the condition which some needs to perform to intervene, may pass through this "the reception room" the notification to give CPU, causes CPU to act according to exterior situation the things have their order of priority to adopt suitably deals with the measure.Now, we already had known the monolithic integrated circuit composition, how -odd under question was connects theirs each part the interdependence the whole? In fact, the monolithic integrated circuit interior has to connect them "the link", namely so-called "internal main line". This main line has like the big city "the yang or male principle", but CPU, ROM, RAM, I/O, the interruption system and so on distributes in this "the main line" both sides, and connect with it. Thus, all instructions, the data all may pass through the internal main line transmission, has like in the big city each kind of goods transmission all to carry on after the yang or male principle.Second section monolithic integrated circuit command system and assemblylanguage procedureFront already narrated the monolithic integrated circuit several main constituent, these parts constituted the monolithic integrated circuit hardware. The so-called hardware (Hardware), is looks obtains, traces entity which obtains. But, the light has such hardware, but also only had the realization computation and the control function possibility. Monolithic confidential can carry on the computation and the control truly, but also must have the software (Software) coordination. The software mainly refers is each kind of procedure. Only then "¹àÈë" each kind of correct procedure (stores) the monolithic integrated circuit, it can effectively work. The monolithic integrated circuit therefore can automatically carry on the operation and the control, is precisely because the human calculates the realization the step which and controls one step by step with the order form, namely a strip instruction (Instruction) stores in advance to the memory in, the monolithic integrated circuit under the CPU control, takes out instruction strip place, and performs to translate and the execution. On adds together this simple operation by two numbers to say, after needs to operate the number has stored the memory, but also needs to carry on following several step:First step: (Location) center takes out the first number from its storage unit, delivers to the logic unit. Second step: In the storage unit which is at from it takes out the second integer, delivers to the logic unit; Third step: Adds together; Fourth step: Result which adds together, delivers unit which assigns to the memory in.All these fetching, delivers the number, adds together, the balance and so on all is one kind of operation (Operation), we request each kind which the computer carries out to hold the function order the form to write down, this is an instruction. How but can distinguish and carry out these operations? This is by designs the personnel in the design monolithic machine-hour to entrust with its command system to decide. An instruction, is corresponding one kind of elementary operation eo; The monolithic integrated circuit can carry out the complete instruction, is this monolithic integrated circuit command system (Iustruction Set), the different type monolithic integrated circuit, its command system is also different.Uses the monolithic machine-hour, beforehand must the question which must solve form a series of instructions. These instructions must be the designation monolithic function recognition and the execution instruction. The monolithic integrated circuit user for solves the instruction procedure which own question arranges, is called the source program (Source Program). The instruction usually divides into the operation code (Opcode) and the operand (Operand) two major parts. The operation code expressed the computer carries out any operation, namely instruction function; The operand expressed the participation operation number 'or' operation number is at the address (namely operand deposits place serial number). Because the monolithic integrated circuit is one kind of programmable component, "recognizes" the binary code (0, 1). Wants the monolithic integrated circuit operation, in monolithic integrated circuit system all instructions, all must express by the binary code form. For example, in Intel in Corporation's MCS - 51 series monolithic integrated circuits, takes out a number from the memory to the CPU in accumulator (in logic unit,participation operation, depositing operation result special-purpose register) the instruction-code is 74H, the accumulator content adds the number code is 24H immediately, in addition immediately the number code, the accumulator delivers the number to the internal RAM memory code is F6H ~ F7H and so on. These instructions are express the binary machine code with the hexadecimal system.The MCS - 51 monolithic integrated circuits word lengths are 8, sometimes, had to complete certain holds affects a byte still not to be able fully to express. Therefore, has the single byte instruction in the command system, also has the multi- bytes instruction. The machine code is by a succession of 0 and 1 is composed, does not have the obvious characteristic, not the good memory, is not easy to understand, is easy to make a mistake. Therefore, straight takes over the use of it to compile the procedure to be extremely difficult. Thus, the people use some to help record the symbol (Mue monic) - usually are instruction function English condense replace the operation code, like MCS - 51 center numbers transmission commonly used MOV (the Move abbreviation), the addition with Add (the Addition abbreviation) took helps records the symbol. Thus, each instruction has the obvious movement characteristic, easy memory and understanding, also is not easy to make a mistake. With helps records the procedure which the symbol compiles to be called the assembly language procedure. But, helps records the symbol compilation the procedure to be advantageous for the human to understand, but the monolithic integrated circuit only knows the binary system machine code actually, therefore, in order to let the monolithic function "read" the assembly language procedure to have again to transform by the binary machine code constitution procedure, this kind of switching process, is called "the assembly". The assembly may draw support in manual Zha Biaofa realizes, also may so-called draw support from PC machine to complete through "the cross assembler". Once "entered" the monolithic integrated circuit by the machine code constitution user program, again "the start" the monolithic integrated circuit, might let it carry out the task which the input routine stipulated.Third section MCU--51 CPU and memoryMonolithic integrated circuit 8,051 CPU is composed by the logic unit and the controller.First, logic unitThe logic unit by completes binary the arithmetic/Logic operation part ALU is a core, in addition temporary storage device TMP, accumulator ACC, register B, program state symbol register PSW and Boolean processor. Accumulator ACC is eight registers, it is in CPU works the most frequent register. When carries on the arithmetic, the logic operation, accumulator ACC often temporarily stores before the operation an operand (for example addend), after but operates preserves its result (for example algebra and). Register B mainly uses in the multiplication and the division operation. Symbolized register PSW also is eight registers, uses for to deposit the operation result some characteristics, whether there is like carries, borrows and so on. Its each position concrete meaning as follows shows. PSW CY AC FO RS1 RS0 OV - P says to the user, what is nicest is following four.1 ¡õbenzene ¡õposition sign CY (PSW ¡õ¡õ7). It expressed operates whether hascarries (or borrows). If the operating result has in the highest order carries (addition) or borrows (subtraction), then this is 1, otherwise is 0.2 ¡õprepares ¨Ö ¡õcarries symbolizes AC. Also called partly carries the symbol, it had reflected two eight-digit numbers operate low four whether has partly carries, namely low four add together (either reduces) whether or not carries (or borrows), like has then AC is 1 condition, otherwise is 0.3 ¡õcoins red soft hail afterglow of the setting sun chronic illness ¡õOV. Whether the MCS - 51 reflections belts sign digit operation result does have the overflow, when has the overflow, this is 1, otherwise is 0.4 ¡õcompels æÅ anxious afterglow of the setting sun ¡õP. Reflects the accumulator ACC content the odevity, if in the ACC operation result has even number 1 (for example 11001100B, including 4 1), then P is 0, otherwise, P=1.PSW other, again introduced in later. Because in PSW depositing procedure execution condition, therefore is called the program status word?In the logic unit also has (bit) to carry on the logic operation according to the position the logical processor (to call Boolean processor). Its function when introduction position instruction again explained.Second, controllerThe controller is the CPU nerve center, it including timed control logic circuit, instruction register, decoder, address indicator DPTR and program counter PC, storehouse indicator SP and so on. Here program counter PC is a counter which constitutes by 16 registers. Wants the monolithic integrated circuit to carry out a procedure, must load in advance this procedure according to the order memory ROM some region. When monolithic integrated circuit movement should take out the instruction according to a smooth strip to perform to carry out. Therefore, must have an electric circuit to be able to discover the unit address which the instruction is at, this electric circuit is program counter PC. When the monolithic integrated circuit starts the executive routine, loads the first instruction locus site to PC, it takes out an instruction every time (for example for multi- bytes instruction, then takes out an instruction byte every time), the PC content on automatic Canada 1, by the directional next instruction address, enables the instruction the smooth execution. Only then when the procedure meets the branch instruction, the subroutine call instruction, or meets when the severance (behind will introduce), PC only then will change to the place which will need to go. 8,051 CPU ¡õPC assigns the address, takes out the instruction byte from the ROM corresponding unit to place in the instruction register to check, then, in the instruction register instruction-code translates into by the decoder each kind of form the control signal, these signals and the monolithic integrated circuit clock oscillator produces the clock pulse in fixed time unifies with the control circuit in, forms according to the certain time metre change level and the clock, namely so-called control information, in CPU interior coordination operation and so on between register data transmission, operation.Third, memoryThe memory was a monolithic integrated circuit important constituent, chart 6has produced one kind of storage capacity is 256 units memory structure schematic drawings. Each memory cell corresponds an address, 256 units altogether have 256 addresses, 16 enters the system number with two to indicate, namely memory address (00H ~ FFH). In the memory each memory cell may store eight binary messages, passes commonly used two 16 to enter the system number to indicate, this is the memory content. The memory memory cell address and the memory cell content is the different two concepts, cannot confuse.1st, program memoryThe procedure is control computer movement a series of orders, the monolithic integrated circuit only knew constitutes the machine instruction by "0" and "1" the code. Like forecited with helps records the symbol compilation order MOV A, # 20H, changes into code 74H, 20H which the machine knew: (Wrote binary system is 01110100B and 00100000B). After monolithic integrated circuit processing question will have beforehand to compose the procedure, the form, the constant will collect the forming machine code to store the monolithic integrated circuit in the memory, this memory will be called the program memory. The program memory may place internal or outside the piece, also may outside the internal piece also establish. Because the PC program counter is 16, causes the program memory to be possible to use 16 binary addresses, therefore, inside and outside memory address may most greatly from 0000H to FFFFH. 8,051 interior have 4k byte ROM, has taken by a 0000H ~ 0FFFH lowest 4k byte, by now outside the piece expanded the program memory address serial number should start by 1000H, if 8,051 treated as 8,031 uses, did not want to use internal 4kROM, all with piece external memory, then the address serial number still might start by 0000H. But, should cause 8051 by now {31} the foot (namely the EA foot) maintained the low level. When EA is the high level, the user uses internal ROM in 0000H to the 0FFFH scope in, after is bigger than 0FFFH, monolithic integrated circuit CPU automatically visits exterior program memory.data-carrier storageThe monolithic integrated circuit data-carrier storage is composed by read-write memory RAM. Its maximum capacity may expand to 64k, uses in saving the real-time input the data. 8,051 interior have 256 units internal data-carrier storages, 00H ~ 7FH is internal stochastic memory RAM, 80H ~ FFH is the special-purpose register area. When actual use should first fully use the internal memory, says from the use angle, clarifies internal data-carrier storage the structure and the allocation is extremely important. Because future in study command system and time programming can pass through Chang Yongdao they. 8,051 interior data-carrier storage address altogether has 256 bytes by 00H to FFH the address spaces, this space is divided into two parts, internal data RAM address is 00H ~ 7FH (namely 0 ~ 127). But with makes the special function register the address is 80H ~ FFH. In this 256 bytes, but also opens some so-called "the bit address" the area, in this region not only may according to the byte addressing, but also may according to "the position (bit)" the addressing. Carries on the position operation regarding these need the data, may deposit to this region. Has arranged four groups of working registers from 00H to 1FH, each group takes 8 RAM byte, records is R0 ~ R7. Actually selects that group of registers, selectsby forecited symbol register in RS1 and RS0. Puts in the different binary number on these two, then selects the different register group, like attached list 1 shows.3rd, special function registerSpecial function register (SFR) the address range is 80H ~ FFH. In MCS - in 51, besides program counter PC and four working register area, other 21 special functions register all in this SFR block. 5 are the pair of byte registers, they have altogether taken 26 bytes. Each special function register mark and address ¼û¸½±í 2. Belt * number may the position addressing. The special function register had reflected 8,051 conditions, are in fact 8,051 conditions characters and the control word register. Uses in CPU PSW then is a model example. These special function registers divide into two kinds on the whole, a kind with chip pin related, another kind makes the internal function the control to use. With the chip pin related special function register is P0 ~ P3, they are in fact 4 eight latches (each I/O), each latch attached has the corresponding output driver and the input buffer constituted a parallel mouth. MCS - 51 altogether has P0 ~ P3 four such parallel mouths, may provide 32 I/The O line, each line all is bidirectional, and has the second function mostly. Other use in the chip control register, accumulator A, symbol register PSW, data indicator DPTR and so on in front of the function mentioned, but another some registers functions related partial do again in behind further introduced.中文版单片机的组成单片机要自动完成计算，它应该具有哪些最重要的部分呢？我们以打算盘为例计算一道算术题。