自循迹电磁小车-硬件设计外文翻译

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智能循迹小车设计论文

摘要：循迹小车采用传感器来识别白色路面中央的黑色引导线，通过C8051F310单片机实现对转向舵机和驱动电机的PWM控制,利用检测器检测道路上的标志，使小车实现快速稳定地循线行驶。

分模块阐述了循迹小车的原理、软硬件设计及制作过程.针对路径特点对循迹小车的方向控制和速度控制提出了舵机分级转向、速度分段控制的解决方案。

实验表明，循迹小车能够较快速、平稳地完成对各种曲率引导线的循迹行驶任务。

关键词：单片机、电机、传感器、循迹。

Summary：Tracing car photoelectric sensor to identify the white road to guide the central black line through the C8051F310 microcontroller and drive to achieve the steering servo motor PWM control, the use of detector on the road signs to make the car look fast and stable line-line, down. Sub-module describes the principles of tracing the car, hardware and software design and production process.Path tracing for the characteristics of the car’s direction and speed control servo proposed classification steering, speed control sub-solutions. Experiments show that, tracing the car can be more rapid and smooth completion of the guide line of curvature of the driving task of tracing. Keywords:Microcontroller, motors, sensors, tracing.目录第一章引言一、设计目的 (4)二、设计方案 (4)三、报告内容安排 (4)四、技术方案概要 (5)第二章硬件部分一、单片机最小系统 (6)二、电源电路 (7)三、H桥电机驱动电路 (7)四、传感器输入电路 (8)五、硬件电路原理图 (9)第三章软件部分一、软件设计框架 (10)二、端口初始化 (10)三、PWM初始化 (11)四、功能函数 (12)第四章程序清单 (14)第五章总结 (19)参考文献 (20)附录 (21)第一章引言随着微电子技术的不断发展，微处理器芯片的集成度越来越高，单片机已可以在一块芯片上同时集成CPU、存储器、定时器/计数器、并行和串行接口、看门狗、前置放大器、A/D转换器、D/A转换器等多种电路，这就很容易将计算机技术与测量控制技术结合，组成智能化测量控制系统，这种技术促进机器人技术也有了突飞猛进的发展。

自循迹巡逻小车-软件设计外文翻译

杭州电子科技大学毕业设计（论文）外文文献翻译自循迹巡逻小车-软件设计毕业设计（论文）题目翻译题目智能车的自动循迹视觉控制策略设计学院自动化学院专业电气工程与自动化姓名温佳乐班级11063011学号11012214指导教师孙伟华智能车的自动循迹视觉控制策略设计（译文）Hui Zhang, Yongxin Liu1．中国，呼和浩特，内蒙古大学电子信息工程学院E-mail: yxliu@文摘:本文是对智能车控制算法的自动循迹与视觉设计的研究。

由直流电机驱动和负责转向的舵机构成的智能车使得它可以沿着黑线高速运行。

一种控制策略建议是让智能车依据根据道路的视觉效果来控制转向，根据道路的图像来控制转向，根据道路的形状来调整速度。

这种基于道路形状的控制方法是基于对道路图像的处理的。

道路的识别包含在整个小车转向控制和速度控制当中。

首先，通过线性CCD采集道路的图像信息传送给CPU进行处理；其次采用道路识别算法来计算出道路的形状；最后，用PD算法控制方向，模糊算法控制速度。

通过在真实赛道上的测试，智能汽车可以在方向和速度上快速响应，沿着最优路线行驶，使得小车能在智能车比赛中取得好成绩。

关键词:智能车竞赛，图像处理，道路识别，PD转向控制，模糊速度控制1介绍随着电子和智能控制技术的发展，智能汽车的研究已成为控制和人工智能领域的一个热点[1]。

智能汽车是一种模拟真实汽车的汽车模型，由直流电机驱动和负责转向的舵机构成的。

智能汽车的是基于微控制器设计的，车前的舵机负责转向；后面的电机结合速度传感器的反馈控制速度。

用舵机引导和控制汽车;直流电机在汽车的后面通过速度传感器的反馈来控制速度。

智能汽车可以在一个黑色的线宽2.5厘米，白色背景的场地上行驶。

图1智能汽车有两种常见的道路识别方法：一个是使用红外二极管作为传感器，另一种是使用CCD / CMOS图像传感器。

在本文中，视觉系统设计采用线性CCD传感器，SAA7113用于把模拟信号转化为数字信号。

我的智能循迹小车报告

智能循迹小车报告设计者：公磊信息学院智能寻迹小车的设计Intelligent Tracing Car Design摘要：智能寻迹小车控制系统的设计中，以STC89S52为核心，用L298N驱动两个减速电机，当产生信号驱动小车前进时，是通过寻迹模块里的红外对管是否寻到黑线产生的电平信号通过LM393再返回到单片机，单片机根据程序设计的要求做出相应的判断送给电机驱动模块，让小车来实现前进、左转、右转、停车等基本功能。

关键字：寻迹小车，STC89S52，单片机Intelligent Tracing Car DesignAbstract:The smart car is LFT for the chassis, STC89S52MCU as its core, including motor and photoelectric sensors, MCU controls the car turning back forward or running on the black line. ST178 reflective voltage seeks the trace.Key words：STC89S52，tracking car一、前沿寻迹是指通过红外发射管和接收管识别路径。

本设计的关键有三个方面：1.方案的比较与论证；2.硬件的设计实现；3.软件的设计实现。

第一章是智能小车总体概况。

介绍了小车的功能及展示了小车模型。

第二章是系统要求。

介绍了小车设计的要求及寻迹的原理。

详细阐述了各模块的方案比较与论证，最后得出最终方案。

第三章是硬件实现及单元电路实现。

详细阐述了各部分电路的设计，并给出了原理图。

第四章是软件设计。

介绍了设计思想、程序流程图及具体程序设计。

二、系统设计1、设计要求（1）自动寻迹小车从安全区域启动。

（2）小车按指定路线运行，自动区分直线轨道和弯路轨道，在指定弯路处拐弯，实现灵活前进、转弯、等功能。

基于单片机的智能循迹小车外文翻译 (2)

摘要：本次设计的智能循迹小车是以单片机89c51为主控制器。

运用反射式红外传感器来进行路径检测和速度监测模块。

将检测数据传回单片机进行处理，同时，用单片机产生PWM波来控制小车的行进速度，并实时控制小车的行进状态。

另外，在小车上还扩展了LCD作为人机交互界面，以便于实时了解小车个监测传感器的状态机小车的实时数据，由于本次设计的是智能自动循迹小车，整个任务过程无需人工的任何干预，故而没有进行键盘及遥控等的人工操作设备。

用多路传感器的实时监测和算法的紧密配合来保证小车的顺畅完成任务。

关键字：80c51单片机，c/c++/汇编语言编程，电子智能小车，光电检测器一、引言智能车辆是一个运用计算机、传感、信息、通信、导航、人工智能及自动控制等技术来实现环境感知、规划决策和自动行驶为一体的高新技术综合体。

它在军事、民用和科学研究等方面已获得了应用，对解决道路交通安全提供了一种新的途径随着汽车工业的迅速发展，关于汽车的研究也就越来越受人关注。

全国电子大赛和省内电子大赛几乎每次都有智能小车这方面的题目，全国各高校也都很重视该题目的研究，许多国家已经把电子设计比赛作为创新教育的战略性手段。

电子设计涉及到多个学科，机械电子、传感器技术、自动控制技术、人工智能控制、计算机与通信技术等等，是众多领域的高科技。

电子设计技术，它是一个国家高科技实例的一个重要标准，可见其研究意义很大本次设计虽然只是一个演示模型，但是具有充分的科学性和实用性。

首先我们根据交通路面的复杂情况，按照适当的比例制作出一个路况模型，包括弯道、直道以及路面上设置的障碍物等。

在弯、直道上，小车沿着预定轨道自由行使，当小车遇到障碍物时，脉冲调制的红外线传感器将检测到的信号发送给单片机，单片机根据程序发出相应的控制信号控制小车自动避开障碍物，进行倒车、前进、左转、右转等动作二、主题部分智能车辆是集环境感知、规划决策、多等级辅助驾驶等功能于一体的综合系统，是智能交通系统的一个重要组成部分。

智能电磁循迹小车的硬件设计与实现

智能电磁循迹小车的硬件设计与实现【摘要】本智能车依据交流信号能够产生磁场（电磁感应）的原理，采用LC 谐振回路感应电磁信号寻迹方案，同时配合光电编码盘、电机、舵机、电池以及相关驱动电路来进行信息的处理，以达到路径识别的目的，并通过PID 方式对电机和舵机进行相关调节，最终以闭合回路的形式控制模型车高速稳定地在跑道上行驶。

【关键词】电磁感应PID 路径识别闭环控制1引言本文以第六届全国大学生智能汽车竞赛为背景，为了保证智能汽车能够具有迅捷的速度、远而清晰的前瞻以及较高的灵敏度与稳定性，从硬件方面对系统进行了优化。

2智能汽车控制系统总体设计2.1总体设计思路。

依据电磁感应的原理我们用LC 谐振回路为传感器来采集信号，之后用运放对采集到的信号进行放大，最终将此信号送给单片机进行处理。

在控制策略方面，主要包括转向控制和速度控制。

对于舵机的转向控制，我们采取经典的位置式PD 算法。

对于电机的速度控制策略，采用PID 调节的同时引入反转制动刹车电路。

各个方面的之间的联系如图所示。

2.2系统硬件结构。

此智能车采用谐振回路定位系统来跟踪前方的赛道，通过谐振回路将检测到了信号进行放大，送给外部A/D 进行数据的处理，最后送给MC9S12XS128 进行相应的运算，然后将计算得到的数据送给舵机和电机，对其进行相应的控制。

其中所用的硬件结构包括：电源模块、MC9S12XS128 系统、传感器模块、电机驱动模块、无线模块。

3智能汽车机械系统调整与改造在对智能车几个月来的研究，我们发现在规则允许范围内，适当优化机械结构可以带来事半功倍的效果。

根据长期的调试，我们发现对于前轮倾角、悬挂、后轮的差速做调整会使车行驶时有更好的效果。

3.1前轮的调整。

根据汽车理论，对前轮的调整主要包括主销后倾，主销内倾，前轮外倾，前轮前束几个方面。

3.1.1主销后倾。

主销后倾角指主稍轴线与地面垂直线在汽车纵向平面内的夹角。

有主销后倾角时汽车的车轮在车轮偏转后，车轮和地面的作用会使车轮产生一回正力矩，纠正车轮的偏转。

循迹小车毕业设计

摘要本设计是一种基于传感器和单片机的数据采集系统，用于实现智能小车的自主循迹功能。

采用反射式红外传感器来识别白色路面中央的黑色导引线，输出相应模拟电压信号，通过信号处理电路将模拟信号转化为可供单片机识别的数字信号；采用反射式激光传感器来判断小车前方一定距离处是直道还是弯道，并直接输出相应的数字信号；采用STC89C52RC单片机作为主控器，对采集到的信号予以分析判断，并控制小车产生相应的动作。

经过总体方案设计、硬件选择、程序编写以及实际调试后，最终的测试结果表明，该数据采集系统工作稳定，算法可靠。

关键词：数据采集系统；传感器；单片机；循迹AbstractThis design is a data acquisition system based on sensors and Single-Chip Microcomputer, it is used to realize the function of tracking line for the intelligent vehicle. The reflecting infra-red sensors are used to identify the black guiding line in the center of the white road, they output corresponding analog voltage signals which will be transformed into digital signals by the signal processing circuit, then the Single-Chip Microcomputer can read the digital signals. The reflecting laser sensor is used to judge that if the road in front of the car is curve or straight, it outputs a corresponding digital signal. The Single-Chip Microcomputer STC89C52RC is used to analyze the signals acquired and control the intelligent vehicle to move accordingly.After designing the overall solutions, choosing the hardware devices, writing the program, and the actual debugging, the final testing result shows that the system works stably and the program runs reliably.Key words: data acquisition system; sensor; Single-Chip Microcomputer; tracking line目录摘要 (I)Abstract....................................................................................................................................... I I 1绪论 . (1)1.1选题的背景和意义 (1)1.2发展现状与趋势 (1)1.3本论文主要研究内容 (2)2 总体方案 (3)2.1 底盘的选择 (3)2.2 智能车整体模块设计 (5)2.3 信息采集模块设计 (5)2.3.1 如何判断车头位置 (6)2.3.2 如何判断弯道直道 (8)2.3.3 如何判断十字路口 (9)3 硬件设计 (10)3.1 传感器的选择及改进 (10)3.1.1 四路红外传感器 (10)3.1.2 一路激光传感器 (13)3.2 信号处理电路的设计 (14)3.3 单片机最小系统设计 (17)3.3.1 供电电路 (17)3.3.2 振荡电路 (18)3.3.3 复位电路 (19)3.4 硬件的安装 (19)4 软件设计 (22)4.1 主函数流程 (22)4.2 循迹流程 (23)4.3 调速流程 (24)4.4 程序的烧录 (24)4.4.1 程序烧录的前提 (25)4.4.2 烧录步骤 (25)5 系统调试与改进 (27)5.1 车模测试 (27)5.2 激光传感器测试 (27)5.3 红外传感器测试 (28)5.4 简单循迹测试 (29)5.5 调速循迹测试 (29)5.6 最终循迹测试 (29)6 结论 (31)致谢 (32)参考文献 (33)附录A 英文原文 (34)附录B 中文翻译 (38)附录C 测试程序 (46)C.1 车模测试程序 (46)C.2 激光传感器测试程序 (47)C.3 循迹测试程序 (48)C.3.1 简单循迹测试程序 (48)C.3.2 调速循迹测试程序 (50)C.3.3 最终循迹测试程序 (53)附录D 跑道 (59)D.1 跑道A (59)D.2 跑道B (59)1绪论1.1选题的背景和意义智能车在生活中有着广泛的应用，例如自动化生产线上的物料陪送机器人，医院的机器人护士，商场的导游机器人等[1]。

有关智能小车的外文文献翻译(原文+中文)-英文文献翻译

Intelligent VehicleOur society is awash in “machine intelligence” of various kinds.Over the last century, we have witnessed more and more of the “drudgery” of daily living being replaced by devices such as washing machines.One remaining area of both drudgery and danger, however, is the daily act ofdriving automobiles. 1.2million people were killed in traffic crashes in 2002, which was 2.1% of all globaldeaths and the 11th ranked cause of death . If this trend continues, an estimated 8.5 million people will be dying every year in road crashes by 2020. in fact, the U.S. Department of Transportation has estimated the overall societal cost of road crashes annually in the United States at greater than $230 billion .when hundreds or thousands of vehicles are sharing the same roads at the same time, leading to the all too familiar experience of congested traffic. Traffic congestion undermines our quality of life in the same way air pollution undermines public health.Around 1990, road transportation professionals began to apply them to traffic and road management. Thus was born the intelligent transportation system (ITS). Starting in the late 1990s, ITS systems were developed and deployed。

循迹小车设计毕业设计

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4、研究方法的科学性；技术线路的可行性；设计方案的合理性
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5、完成毕业论文（设计）期间的出勤情况
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二、论文（设计）质量
1、论文（设计）的整体结构是否符合撰写规范？
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第一阶段的循迹小车是没有传感器，只采用了简单的开关来控制，可以通过编程设置小车的运动参数和路径，但是这阶段的小车在工作过程中，不能够根据工作场地的变化而改变自身的行进轨迹。
第二阶段的循迹小车支持离线编程并且具有检测并适应场地的能力,这类的循迹小车装备了一些简单的传感器,可以通过传感器知道自身所处的位置、速度等一些物理量。其电路系统闭环控制系统，能够较好的适应场地的变化。
循迹小车还有另一个很鲜明的特点,那就是智能化和自动化，工业使用的智能循迹小车能够根据仓库存储货位情况以及生产流程的一些情况灵活的改变行走路径，而且与传统的运输带和运送线相比改变路径的费用要明显低很多，降低了企业的成本。此外工业使用的智能循迹小车一般都装备有装卸机构，其能实现的功能更多，能与其它的物流设备自动的对接，实现全自动化的物品装卸以及搬运。此外由于工业使用的智能小车的动力是由蓄电池提供的，其使用的能源是无污染的电能，且小车行进过程中基本没有噪音，可以在环境清洁的场地工作。
3、论文（设计说明书）所体现的整体水平
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一、论文（设计）质量

一种自动寻迹小车的设计

一种自动寻迹小车的设计尚宇星（青岛工学院，山东胶州266300）摘要：本设计是一种基于单片机控制的简易自动寻迹小车系统，包括小车系统构成软硬件设计方法。

小车以AT89C52为控制核心,用单片机产生PWM 波，控制小车速度。

利用红外光电传感器对路面黑色轨迹进行检测,并将路面检测信号反馈给单片机。

单片机对采集到的信号予以分析判断,及时控制驱动电机以调整小车转向,从而使小车能够沿着黑色轨迹自动行驶,实现小车自动寻迹的目的。

关键词：单片机；光电传感器；直流电机；自动循迹小车作者简介：尚宇星（1997-），男，内蒙古鄂尔多斯人，本科在读，研究方向：单片机控制、传感器。

1设计要求设计一个基于直流电机的自动寻迹小车，车能够自动检测地面黑色轨迹，并沿着黑色车轨迹行驶。

自动循迹小车控制系统由主控制电路模块、稳压电源模块、红外检测模块、电机及驱动模块等部分组成。

2系统工作原理这里的循迹是指小车在白色地板上循黑线行走，由于黑线和白色地板对光线的反射系数不同，可以根据接收到的反射光的强弱来判断“道路”。

通常采取的方法是红外探测法。

2.1主控制电路模块整个系统主要由主控中心（单片机）、复位电路、时钟电路、按键控制电路、数码管显示电路及LED 模仿交通信号灯电路等功能模块组成。

遇到特殊情况时可以通过按键电路控制实时交通实际情况。

2.2红外检测模块红外线光电传感器是通过把光强度的变化转换成电信号的变化来实现控制的。

光电开关是传感器大家族中的成员，它把发射端和接收端之间光的强弱变化转化为电流的变化以达到探测的目的。

由于光电开关输出回路和输入回路是电隔离的，所以它可以在许多场合得到应用。

2.3电机及驱动模块L298N 是SGS 公司的产品，内部包含4通道逻辑驱动电路。

是一种二相和四相电机的专用驱动器，即内含二个H 桥的高电压大电流双全桥式驱动器，接收标准TTL 逻辑电平信号，可驱动46V 、2A 以下的电机。

2.4电源模块模块电源是可以直接贴装在印刷电路板上的电源供应器，其特点是可为专用集成电路、数字信号处理器、微处理器、存储器、现场可编程门阵列及其他数字或模拟负载提供供电。

自动电磁循迹小车设计与实现

通过对比和分析，根据设计的需要，选用方案二。
1.5 电机驱动的选择方案一：采用 PWM 接电源直接驱动。采用这种控制方式
电路简单，它具有调速特性优良、调整平滑、调速范围广等有点；但对电源的要求较高，这种控制方式会随着电源电压的变化而变化，使整个系统的稳定性较差。
方案二：采用 L298 驱动芯片。利用 L298 制作的驱动电
方案二：使用 MSP430F5XXX 系列单片机。该系列单片机是高集成单片机，功能和性能都要比 51 系列强大很多。 MSP430F5529 在最高主频时功耗更低，最优的场合是工作在 16MHZ 左右，最高可以提升到 25Mhz，使 430 的适用范围拓展到需求更高的应用场合。内部集成了定时器、PWM 控制器、 I2C、SPI 等协议控制器，大大降低了电路设计的复杂度，成本等。由于本题要求采用 LDC1000 数字电感式传感器，该传感器采用 SPI 协议通讯，所以跟适合用具有 SPI 协议控制器的 MSP430F5529 单片机。
基于以上比较分析以及系统设计的要求，最终选用应用性更优的方案二。
1.2 核心控制模块的的选择核心控制模块是系统的主控，控制着系统的所有输入输
出、计算与判断“。自动循迹控制系统”检测精度要求高，选择适合的控制模块，能确保其快速是实现稳定及达到系统要求的基本条件。
方案一：使用 ATMEL 公司的 51 系列单片机。此系列单片机使用非常的广泛，性价比也高，但是它运算速度相对较慢、存储容量小，难以存储大容量程序及数据。同时运算速度相对较慢、存储容量小，难以存储大容量程序，实时处理数据。
基于上面的，选用方案二。
1.4 小车电机的选择方案一：采用步进电机。步进电机的转速比较稳定，使得

基于80C51单片机的电动智能小车硬件设计（英文翻译）

The characteristics and theapplication of single chipmicrocomputer1. A machine of basic constituteThe structure characterist ic o f a mach ine is a b asic part that will co nstitute the calcu lato r to gather o n a p iece o f crystal ch ip, co nstitute o ne set fu nctio n special,a microco mp uter o f the integr ity.The und erneath syno psis introd uce each co nstitute the part.1.1 CPUThe CP U with in a machine is similar to in general use microp ro cesso r b asically, co nstitut in g fro m the op eratio n machine and co ntro ller,increasin g to estab lish the p rocessingfu nctio n o f" face to the co ntro l" mo reo ver, if a p ro cessin g, check the fo rm,variety to ju mp to turn,mu lt ip ly b y the d iv is io nop eratio n, the app earance examinat io n and b reak o ff to hand le the etc.1.2 Saving machineThe saving sp ace o f a machine co ntains two k ind s o f b asic structure. A k ind o f is the P rinceto n structure( Princeto n),d ifferent fro m a savin g mach ine sp ace of the d ata su itab le fo r use, namely ROM and RAM ad dresses assig n in a sp ace to getherad dress o f p ro ced ure. When the CP U interview save the machine, an add ress to sho uld o nly o ne o f a savin g un it, can b e a RO M, can also be a RAM, use the interv iew instructio n o f the o f the same k ind. Ano ther is a k ind o f is to separate saving machine o f the proced ure sa ving mach ine and d ates clearly, loo k fo r the structure o f the add ress resp ectively, b e called Harvard( Harvard) structure. The CP U vis its the d ifferent and saving machine space with thed ifferent instruct io n. Because an ap p licatio n w it h actual mach ine in the characterist ics o f" face to the co ntro l",need the saving machine of b igger p ro ced ure generally. C urrently, a mach ine that inc lud es the series o f C51 MC S-51 and 80 all ado p ts the structure o f Harvard that sav ing mach ine o f the p ro ced ure sav in g machine and d ates clearly separate.1.3 Proceed together the I/ OA machine fo r the sak e o f the functio n o f t he o utstand in g co ntro l, pro vid ed the q uant ity man y, the functio n is stro ng and uses viv id ab reast I/ O.No t o nly can viv id ly the cho ice imp o rtatio n o r o utp ut, b ut also can be the to tal line o f system o r co ntro l the signa l line o n the usage,thus fo r exp and the exterio r sav in g the mach ine and I/ Os co nnected to pro vid e the co nven ience.1.4 The string goes the I/ O8 machines o f the high speed can p ro vid e a wo rk ed strin g to go the I/ O, as a resu lt can carry o n the strin g to go the co rresp o ndence with so me terminal eq u ip ments, or co nnect wit h each o ther wit h so me mach ines o f special funct io n p iece.1.5 Settle machine/ count the machineIn actual ap p licatio n, a machine usually need to be settle b y the sq uare, o r need o utward an affairs carries o n co unt, as a resu lt at a mach ine the inner part estab lished settle machine/ co unt the machine electric circu it, p ass the interrup tio n, carry o ut to settle/ the auto p ro cessing that co unt.2. The characteristics of a machineA structure with sp ecia l machine co mes to a decis io n it have as fo llo ws characterist ics.2.1 High gather degree, high and dependableA mach ine gathers each fu nctio n parts o n a p iece o f crystal chip, gather the d egree is very high,the p hys ical vo lu me nature also is min imu m.The chip is to press ind ustry to measure to co ntro l the env iro nment req uest desig n o f, the internal clo th line is very sho rt, b etter than general in general use CP U o f its ant i- ind ustry no ise functio n. A machine p roced ure instructio n, co nstant and fo rm etc.is so lid to turn in the RO M the no t easy breakage, man y signa l passages are all in a ch ip, the past cred ib ility is h ig h.2.2 Control the function strongFo r satisfy ing the c o nd it io n to the co ntro l req uest o f the ob ject,the instruct io n system o f a mach ine very all have ab und antly: The b ranch transfers the ab ilit y, I/ O o cular lo g ic op eratio n and a p ro cessin g ab ilities, being app licab le to the sp ecia lized co ntro l funct io n very much.2.3 The low electric voltage, low consumeFo r satis fy ing the extensive usage in then the ho ld typ e system,the wo rk electric vo ltage in many mach ines is the 1.8 V ～ 3.6 Vs o nly, b ut wo rk the electric current is o nly fo r several hund red tin y Anne x.2.4 The excellent function price comparesThe fu nctio n o f a machine is very h ig h.Fo r the sak e o f the exaltatio n sp eed and the mo vement effic iencies, a mach ine has alread y started use the RISC flo wing water line and DS P etc. techn iq ues. A mach ine lo o ks fo r the restrict that the ad d ress ab ility have alread y also b ro ken the 64 K Bs, have o f have alread y can attain the 1MB and 16MBses, the capacity o f ROM in the slice can amo u nt to the 62MBs,the cap acity o f RAM then canamo unt to the 2 MBs. Because o f the extensive usage o f a machine, as a result sell the q uant ity b ig gest, the b usiness o f each archd uk e department the co mp etit io n even make its price very cheap, its fu nctio n p rice co mp are very high.3. The application of a machineBecause a machine functio n flies to develo p soo n, its ap p licatio n is increasing ly extensive, have alread y o utrun the realm o f the calcu lato r science far and far. S mall arrive the to y, cred it card, b i g arrive the aero space machine, ro bo t, fro m carry o ut the data to co llect, p ro cess co ntro l, misty co ntro l etc. the inte lligence system arrives the mank ind's d aily life,all cann in g no t get away fro m a machine everywhere. It is ma in ly the ap p lied realm is a s fo llo ws.3.1 At measure to control the application in the systemA machine cans used fo r co nstitut ing vario us ind ustry co ntro ls system and co ntro l the system, data to co llect system etc. fro m the o rientatio n.F o r examp le,the bo iler o n the ind ustry co ntro l,electrical eng ineerin g co ntro l,the veh icle examine auto mat ic co ntro l o f system,flo od gate,co unt to co ntro l t he to o l machine and the rad ar o n the military, gu id ed missile system act’s.3.2 The application that is in intelligence turns the instrument appearanceA machine ap p ly in urge the instrument ap pearance to turn to ward nu meral in the instru ment app earance eq uip ments, the inte lligence turn, mu lt i-functio n turn and synt hesize to turn etc. the d irectio n develo p ment.The so ftware p lait the d istance te chn iq ue o f a mach ine makes measure fo r lo ng t ime the processing that the erro r margin in the ap pearance co rrectio n, line turn etc.the hard nut to crack so lve p ro b lems wit h the greatestease.3.3 In machine give or get an electric shock integral whole turn of applicationA mach ine co mb ines with the trad it io nal machine p ro d uct the machine p rod uct structure o f mak e the trad it io n to simp lify,the co ntro l alig n ment intelligence turn,co nstitut ing the mach ine o f the new generatio n electricity the integral who le turns the p ro d uct. Th is is the d irectio n o f the machine ind ustry d evelo p ment.3.4 Connect the application in the intelligenceThe calcu lato r system,the especially mo re large ind ustry measures to co ntro l to ado p t a mach ine to carry o n co nnecting the ocular co ntro l manage ment in the system, a machine and ho sts wo rk ab reast,can raise the mo vement speed o f the system co nsu med ly. Fo r examp le, in large data co llect system, use a machine to the mo ld/ nu mb er the co nversio n co nnects to carry o n the co ntro l no t o n ly can raise to co llect the speed, also can wit h lo garit hms acco rd in g to carry o n p rep aring the p ro cessin g. Revise such as the nu mer ical wave, error margin, the line turns to hand le etc.A micro co ntro ller (o r MC U) is a co mp uter-o n-a-chip. It is a type o f micro p ro cesso r emp hasizing se lf-sufficiency and co st effectiveness, in co ntrast to a general-p urp ose micro processo r (the k ind used in a PC).4. A principle and implementation method4.1 Restored to the throne the law regularly unconditionallyUse timer,spe cial-p urp ose clo ck ch ip o r other p ulse generato r, prod uce sig nal o f resto rin g to the thro ne regu larly acco rd ing to interva l that set fo r. This k ind o f metho d is especially suitab le fo r the measuring instru ment.In no t runn ing actually,samp le the analo g q uantit y o f intro d uctio n w ith A/D co nverter o ften, then sto re sho win g. Th is co urse is very fast, b ut stead y fo r read ing, the data p er seco nd are o nly up grad ed 1 -2 times, a large amo unt o f time o f CP U is used fo r wait ing. Let C P U carry o ut and enter do rmancy d irectly after the task , resto re to the thro ne and wak e b y external wo rld up It carry o ut the next op eratio n,this is to resto re to the thro ne the law regu larly In th is way can mak e anti-interference ab ilit y strengt hen greatly , have 2 p o ints ma in ly:①. At the d o rmancy, p ro ced ure sto p run can app ear PC ind icato rd isorderly p ro ced ure that causes run and fly.Wo rk time in do rmancy prop o rtio n 1:9, that is to say 1 s have 0.1 time of s used fo r measuring,send ing o ff sho wing,there is time do rmancy o f 0.9s, the p rob ab ility that the p roced ure is inter fered is 1/10 while runn ing at fu ll speed,who le ant i-interference ab ility raise b y 10 times.②Because every 1s is resto red to the thro ne o nce unco nd it io nally, o nce p resent the system halted d uring a jo b, can certain ly resu me when resto red to the thro ne next time. As to o nly instru ment that sho w,so me read ing mistak e that 1s ap pear accid entally there is no memo ry to the next measurement, be co uld bear , belo ng to “p ass” mistak e. Th is k ind is resto red to the thro ne the ad vantage o f d o g's circu it fo r guard ing the gate regular ly, first, change waiting t ime into a do rmancy state,time to shorten and may be interfered; Seco nd, avo id ed happ enin g that the do g co ntro ls the d eath circulat io n o f the link to includ e guard in g the gate.4.2 The external condition is restored to the throne the lawSo me arrival that exp ort o r measure is co ntro lled b y the o utside. Fo r instance,the ho t fo rm.O f heatin g,ro tate the p ulse prod uced and calcu late heat b y ho t water wheels,there is no ho twater to flo w,there is no heat to exp o rt, CP U o nly need in fact keep nu mb er value,do no t need to co unt. C an imag ine ho t water wheels ro tate when p ark in g warm , C P U id le in will it be will it b e o ne seaso n autu mn sp rin g and summer, If let do rmancy it s , measure have water wheels p ulse co nstantly,anti-interference ab ility can strengthen greatly. S o, so lo n g as link up the resto rin g to the thro ne o f the p ulse o f the water wheels and CP U, the water wheels ro tate a circle each time, CP U is resto red to th e thro ne o nce, ho t fo rm. C an wo rk norma lly,this is resto red to the thro ne the law b y the external co nd it io n.S imilar app licatio n have half electro n k ilo watt-ho ur meter, go o n o ne co unt just when the machinery d egree wheels and transfers to a circle,users do no t need the electricit y; CP U has b een k no wing the do rmancy all the time. The resto ring to the thro ne in t he interva l no t to b e regu lar, b ut co nfir med accord in g to the external co nd it io n o f th is metho d. In so me occasio ns,the time o f the d ormancy w ill be very lo ng, very effective to imp ro ving anti-interference ab ilit y.5 .The hardware realizes the main point5.1 Restored to the throne regularly unconditionallyGenerally ha ve 2k ind s o f method s. Use the timer o r the sp ecia l-p urpo se clo ck ch ip to b e restored to the thro ne. F ig1, in order to use the timing circu it that 555 circu its makes up; Can use the clo ck ch ip s o f X1126, etc too, wak e CP U up with the alarm sig nal after setting up warn in g time. Th is k ind o f metho d is suitab le when the lo n g interval is ma d e, can also fo llo w the resu lt o f th is o peratio n ，determine to wak e time up in alarm next time temp o rarily, very flex ib le and co nven ient. The sig nal o f using the system to be inherent is as red ucing the p ulse regu larly. Use 50Hz wo rker po wer make red ucin g after having a facelift freq uent ly,alread y o mit the timer,gathered the co rresp o nd in g sig nal fo r the p hase p lace which measured the electric current signa l at the same time, as F ig. 2 sho ws.5.2 External conditions are restored to the throneSend external co nd itio n p u lse to and is resto red to the thro n e the end so n after havin g a facelift. To that abo ve-ment io ned water wheels o r the ammeter sp end a p u lse prod uced, can use S chmitt's trig ger to have a facelift; F or writing do wn the instru ment o f the b iggest or min imu m，can use the windo w co mp arato r. In o rd er to realize the electrificatio n that is regu lated，can use the electro nic electric p o tentia l d evice, estab lish up p er and lo wer limits w ith the order o f the o ne-chip co mp uter.5.3 Reduce cycle and restored to the throne the high electricity at ordinary timesIn F ig3, restored to the thro ne the signa l d uring h ig h level Tr, the o ne-chip co mp uter is in the state o f resto ring to the thro ne, the proced ure do es no t run, anti-inter ference ab ilit y is the stro ngest; After the h igh level,the o ne-chip co mp uter b egins to ho ld the co nd uct p ro ced ure.That is to say, are resto red to the thro ne and suitab le fo r the time that the proced ure carries o ut d urin g the lo w level Td o f the sig nal,this time sho uld b e greater than the executio n cycle o f the pro ced ure each time. It is resto re to the thro ne cycle and resto re to the thro ne h igh leve l o f sig nal tak e emp ty than very much imp o rtant to cho ose ratio nally. As to simp le to sho w instru ment,resto re to the thro ne cycle determine data break c ycle,lo w electricity is it measure,hank o ver all time sho wn to greater than to want at o rd inary times; O therwise, cant present fo rever the mistake o f the intact execut ive p ro gram. Mo no lith ic integrated circu it in Ts and Tr p erio d all caneffectively the ant jammin g,b ut is best the un necessary time arrangement in Tr. W hen the p ro gram time is lo ng, when as far as po ssib le the req uest red uces Tr,may jo in t he d ifferentiat in g circuit,lik e chart 1 center C30, R26,D9.5.4 Treatment of output end sons(1) Res to re to the thro ne straight p u lseDuring all I/O mo uth o f o ne-chip co mp uter turn into the h ig h level w hen restoring to the thro ne. That is to say o utp ut fo r lo w p in no rmally, will acco rd ing to resto re to the thro ne cycle ap pear the wid th fo r the straight p u lse o f Tr.Th is straight p u lse will in fluence the norma l o utp ut, 2 metho d s are d ealt wit h: C o nnect in paralle l electric capacity sup p ress, cap acity co nfir m acco rd in g to Tr time that resto re to the thro ne o n the so n in end.Red ucing Tr can be red uced and c o nnected the electric capacity in parallel.It is in valid to desig n the p erip heral circu it into the high level.(2) F ault-to lerantC ho ose the cap acit y that the o utp ut end co nnects the electric capacity in p aralle l fau lt-to lerant ly and prop erly,can realize fau lt-to lerant co ntro l.Red uced cycle in certain,b ecause interfered exp o rting the wro ng leve l. Because the k eep in g fu nctio n o f e lectric cap acit y,can't still enab le expo rtin g the change to the valid leve l wit h in th is cycle; Next cycle, the mistak e is corrected. S o, so lo ng as d oes no t make mistakes in 2 cycles in successio n,it is very fault-to lerant to exp ort Certain ly,this k ind o f metho d will mak e the norma l o utp ut change lag b ehind fo r o ne cycle, just really reflect the o utp ut end so n.5.5 has the electricity to measure and restore to the throne manuallySo me system is it makes so me in itia lize and o perates to want at electric ity fo r the first time. Resto red to the thro ne and alread y beco me the b eginn ing co nd it io n o f no rma l runn in g each time while ado p ting t he way o f resto ring to the thro ne to run,it is unab le to d ist in gu ish and have the electric ity fo r the first time. In so me p in co nnects the electric cap acity o f o ne1P F to the gro und, measure th is p in after being resto red to the thro ne, if lo w leve l t o have electricity fo r the first time.Give system set up o ne resto re to the thro ne b utto n, that is to say a co mmo n o ne manua l to resto re to the thro ne, this b utto n is no t jo ined and b ein g resto red to the thro ne in the end, is co nnected in p aralle l in the electric cap acit y bo th end s to the gro und o f ab o ve-mentio ned p ins.6. The software realizes the main point6.1 is it resume with zero clearing RAM to outputResto re to the thro ne the last all p in turn h igh level into, is it sho uld take p lace unnecessary change fo r lo w p in to mak e regu larly,so,sho u ld resume the state.O f all p ins immed iately after being resto red to the thro ne. There are 2 k ind s o f metho d s: Analy ze and jud ge immed iately after b ein g resto red to the thro ne this time,pro vid e the state o f the p in acco rd ing to the need; in bein g RAM it is the last state that co me d o wn, these RAM when resto red. To the thro ne regu larly can the zero clearin g o ne; But electric ity o r man ual to resto re to the thro ne when p ushing in co nfo rmit y with zero clearing,is it emb o d y to want when the so ftware is wo rk ed o utin g at the beg in ning.If calculate time allo ws, try o ne's b est to take method 1. Resto re to the thro ne cycle prob ab ility made mistak es to calcu late very litt le, acco rd ing to 2fo r the 2nd time in successio n.4o utp ut end so n that narrate co nnect treatment metho d o f electric cap acit y in parallel,can reach k ind anti-interference resu lt.6.2 realize crossing over and is restored to the throne alternate time sequence regularly to controlWo rk in way o f resto rin g to the thro ne no w, start anew and carry o ut the same p ro ced ure rep eated ly each t ime. Can b e d iv id ed into 2 k ind s o f situat io ns: As to simp le to sho w instru ment, carry o n measurement ，send o ff sho wing after b ein g resto red to the thro ne each t ime,have causal ity b etween resto rin g to the thro ne twice . N eed is it sw itch o ver to the do rmancy to waiting o rig ina l o nly.S ho uld p ay attentio n to, measurement, g ive to tal t ime used to sho w is it is it resto re to the thro ne lo w electricit y at o rd inary times to sma ller t han to want, o therwise can't p resent fo rever the mistak e o f the intact execut ive p ro gram.Fo r having app licatio n that time seq uence co ntro lled, after b ein g resto red to the thro ne each time, sho uld check first that see the sig n left last cycle, in order to determine what is d o ne th is cycle. That is to say every is it resto re to the thro ne op eratio n o f cycle to strid e , b y is it transmit to ind icate all,these ind icate while leavin g in ins id e RAM , the zero clearin g o nly when have the electricity fo r the firs t time. F o r examp le, the p ro tectin g synt hetically d evice o f ab o ve-mentio ned vo ltage transfo rmer,is restored to the thro ne regu larly acco rd ing to the interval o f 20ms. It reaches the norma l wo rk in g state thro ug h,certain mo ve ment o rd er after having the ele ctric ity,such as F ig.4; Write a p art o f the p ro ced ure o f the so ftware acco rd in g to this mo ve ment, such as F ig. 5.In 4 F ig,act as perso n who p ro tects the b eginn in g at the electric ity,is it transmit p o wer 0 to try at first. 5s po ints o ut andtransmits po wer so o n; Transmit p o wer fo rma lly after wait ing fo r 30s.It is start-up time in 1s after transmitt ing p o wer,d oes no t measure the electric current. S tart after fin ish ing, if a ll go ing we ll, the lo catio n is p ut" no rma l sign ",p erso n who p ro tect resto re to the thro ne cycle enter no rmal run n in g in the next o ne.Try 0that transmits p o wer. 5s is it is it realizes to co unt o nce resto rin g to the thro ne to delay time, resto re to the thro ne time 20ms each time. At having electricit y fo r the first time, mak e all z ero clearing to ins id e RAM, make it is it time Ts to trans mit po wer no t to try =Do rmancy after 25. After resto ring to the thro ne, is it have electric p in to have electricit y fo r the first time alread y, is it is it is it is it time the measur ing o f Ts to transmit po wer to try to get to go o n to measure next time. If Ts * 0, is it in is it p ro lo ng p erio d to trans mit p o wer, is it enter do rmancy after the 1 to red uce Ts to pro ve. Act as Ts-1 = 0, the co urse which waited fo r 30s that sho uld enter and lo se electr ical po wer.Just when Ts decreases pro gressive ly to0,make it is it ind icate to wait fo r no t to lo se electrical po wer Td =1500. When the p ro ced ure is restored to the thro ne b eginn ing again, measure to Ts =0 b ut Td * 0, is it is it is it transmit p o wer to try to cro ss alread y to ind icate, at is it wait fo r the co urse o f 30s to lo se electrical po wer no w. In this way,the who le p ro cess is transmitted each o ther b y such these p arameters as Tr,Td ,Ts etc, go o n step b y step.Result:Co nclus io n Anti-inter ference is an imp o rtant p rob lem in an electro nic d esign, esp ecia lly Imp o rtant in the o ne-ch ip co mp uter. Th is is because the o ne-ch ip co mp uter has p ro ced ures to run particu larity t hat flies,the co nseq uence that it is interfered may be the system halted, may send o ut vario us k ind s o f mistak es o rillegal mo ve ments befo re the system ha lted to o,make the who le system p ro d uce the mo rtality mistak e. S o, o n ly guarantee it is no t eno ugh yet fo r o ne-ch ip co mp uter no t to crash,stud y ho w to red uce the risk interfered, it can b efau lt-to ierant ho w is it after and make mistak es.This text is it act as so me exp lo ratio n fro m two these to try hard, ho pe these ele mentary o p in io ns can p lay so me functio n o f castin g a b rick to attract jad e,help fu l to everyb od y; Hop e too every co lle ague exp lo re to gether, imp ro ve o ur desig n leve l to gether.单片机的特点和应用1．单片机的基本组成单片机的结构特征是将组成计算机的基本部件集成在一块晶体芯片上，构成一台功能独特的、完整的单片微型计算机。

基于单片机无线遥控小车设计英文范文

基于单片机无线遥控小车设计英文范文Design of Wireless Remote Control Car Based on Single Chip Microcomputer。

With the rapid development of technology, the application of single-chip microcomputers in various fields has become more and more extensive. One of the most interesting applications is the design of a wireless remote control car based on a single-chip microcomputer. In this article, we will discuss the design and implementation of such a car.The main components of the wireless remote control car include a single-chip microcomputer, motor driver, wireless communication module, and various sensors. The single-chip microcomputer serves as the brain of the car, controlling its movement and receiving commands from the remote control. The motor driver is used to control the speed and direction of the car, while the wireless communication module enables communication between the remote control and the car. Sensors such as ultrasonic sensors and infrared sensors can be used to detect obstacles and avoid collisions.The design of the wireless remote control car begins with the selection of the single-chip microcomputer. The microcontroller should have sufficient processing power and I/O ports to control the motors, communicate wirelessly, and interface with sensors. Popular choices for single-chip microcontrollers include the Arduino, Raspberry Pi, and STM32.Once the microcontroller is selected, the next step is to design the motor control circuit. This circuit typically consists of H-bridge motor drivers, which allow the microcontroller to control the speed and direction of the motors. The motors themselves can be DC motors or servo motors, depending on the requirements of the car.After the motor control circuit is designed and tested, the wireless communication module is integrated into the system. This module can be based on technologies such as Bluetooth, Wi-Fi, or RF. The remote control is equipped with a similar wireless module, allowing the user to send commands to the car.In addition to motor control and wireless communication, sensors are an important part of the wireless remote control car. Ultrasonic sensors can be used to measure the distance to obstacles in front of the car, while infrared sensors can detect obstacles on the sides or rear of the car. These sensors provide input to the microcontroller, allowing the car to navigate and avoid collisions autonomously.Once all the components are integrated, the software for the wireless remote control car is developed. This software includes the control algorithm for the motors, the communication protocol between the remote control and the car, and the obstacle avoidance logic based on sensor input. The software is typically written in C or C++, and can be developed using the Arduino IDE, Raspberry Pi IDE, or other integrated development environments.After the hardware and software are developed, the wireless remote control car is assembled and tested. The car should be able to move in all directions, respond to commands from the remote control, and avoid obstacles using the sensors. Any issues or bugs in the design are identified and fixed during the testing phase.In conclusion, the design of a wireless remote control car based on a single-chip microcomputer is a challenging and rewarding project. By carefully selecting components, designing circuits, integrating sensors, and developing software, it is possible to create a fully functional remote control car that can navigate and avoid obstacles wirelessly. This project is a great way to learn about electronics, programming, and robotics, and can be a fun and educational experience for hobbyists and students alike.。

电磁循迹的英语

电磁循迹的英语English:Electromagnetic tracing refers to the process of using electromagnetic signals to track the movement or location of an object or person. This technology is commonly used in various applications such as navigation systems, security surveillance, and industrial automation. In an electromagnetic tracing system, an emitter sends out electromagnetic signals, which are then received and processed by a receiver to determine the object's position. This can be achieved through techniques such as radio frequency identification (RFID), global positioning system (GPS), or wireless communication technologies. Electromagnetic tracing offers a non-invasive and cost-effective way to monitor and manage the movement of objects or individuals, making it a valuable tool in a wide range of industries.中文翻译:电磁循迹是指利用电磁信号来跟踪物体或人员的移动或位置的过程。

循迹小车报告

智能循迹小车摘要：本设计由寻迹信息采集电路，电机驱动电路，遥控模块以及MCU控制模块四大部分构成。

MCU控制模块是本设计的核心部分，该部分以一片TI公司的MSP430F149为控制中心，实现对各个模块的控制。

寻迹信息采集部分以反射式光电传感器和比较器组成，将采集到的数据处理后送至单片机。

电机由以L298N为核心部件的电路驱动。

遥控模块则可以在小车没有成功寻迹的情况下对其进行远程控制。

该小车具有自动寻迹，起始点检测以及自动声光报警等功能。

基于稳定的硬件电路设计以及精确可靠的软件算法，小车能够实现预期功能。

关键词：MSP430，L298N，寻迹，遥控Abstract::This design by tracing information acquisition circuit,motor drive circuit,remote control module and MC U control module three most constitutes.MCU control module is the design of the core part,this part to a TI company's MSP430F149for control center,and to realize the control of the modules.Tracing infor mation collection of reflecting photoe lectric sensor and comparator composition,will be processed the data collected will be sent to the microcontrolle r.Motor by L298N as the core component circuit driver.Remote control module can be in the car without success tracing of the remote control.This car has a automatic tracing,starting point test and automa tic sound-light alarm functions.Based on stable hardwar e circuit design and precise and relia ble software algorithm,the tank can realize the topic request.Keey words:MSP430，L298N，tracing，remote1目录1前言-------------------------------------------------------------------------------------------------------------------------------------------2方案比较、设计与论证----------------------------------------------------------------------------------------------------------------2.1寻迹信息采集模块---------------------------------------------------------------------------------------------------------------2.2驱动电机的选择--------------------------------------------------------------------------------------------------------------------2.3总体方案选择------------------------------------------------------------------------------------------------------------------------3理论分析与计算--------------------------------------------------------------------------------------------------------------------------4系统电路设计------------------------------------------------------------------------------------------------------------------------------4.1寻迹模块------------------------------------------------------------------------------------------------------------------------------4.2电机驱动模块------------------------------------------------------------------------------------------------------------------------4.3电源模块------------------------------------------------------------------------------------------------------------------------------4.4主控制模块---------------------------------------------------------------------------------------------------------------------------4.5总体电路------------------------------------------------------------------------------------------------------------------------------5系统软件设计------------------------------------------------------------------------------------------------------------------------------6系统测试-----------------------------------------------------------------------------------------------------------------------------------7结束语--------------------------------------------------------------------------------------------------------------------------------------8参考文献-----------------------------------------------------------------------------------------------------------------------------------附录一：系统总体电路图---------------------------------------------------------------------------------------------------------------附录二：部分程序-------------------------------------------------------------------------------------------------------------------------附录三：作品实物图---------------------------------------------------------------------------------------------------------------------344 4 45 66 7 7 8 8910 11 12 13 14 1621前言随着机械自动化的不断发展，人们在生活的各个方面都希望能够利用自动化的操作来提高工作效率，使生产发展能够得到不断的提高。

自主循迹智能小车硬件设计

摘要本文论述了基于单片机的智能循迹小车的控制过程。

智能循迹是基于自动引导机器人系统，用以实现小车自动识别路线，以及选择正确的路线。

智能循迹小车是一个运用传感器、单片机、电机驱动及自动控制等技术来实现按照预先设定的模式下，不受人为管理时能够自动实现循迹导航的高新科技。

该技术已经应用于无人驾驶机动车，无人工厂，仓库，服务机器人等多种领域。

本设计采用STC89C52单片机作为小车的控制核心；采用TCRT5000红外反射式开关传感器作为小车的循迹模块来识别白色路面中央的黑色引导线，采集信号并将信号转换为能被单片机识别的数字信号；采用驱动芯片L298N构成双H桥控制直流电机，其中软件系统采用C程序，本设计的电路结构简单，容易实现，可靠性高。

关键词：单片机；自动循迹；驱动电路AbstractThis paper discusses the intelligent tracing electric trolley control process. Automatic tracing is used to make the car indentify route automatically , and choosing the right route, based on the automatic guide robot system. Intelligent tracing electric trolley is an advanced technology to realize automatic tracing navigation. It is out of human management but under the designed mode that use of the use of a transducer, single chip, motor drive and automatic control .This technology has been applied in unmanned vehicle, unmanned factory, warehouse, service robot and many other fields.During the design of Intelligent tracing electric trolley, STC89C52 single clip is used as the control core; at the same time with TCRT5000 reflective infrared transducer switch to identify the black guide line at the central of the white road, which used as the car tracing module, it can gather the signal and transfer it into digital signal that can be recognized by single chip. And the driving chip L298N constitute the double H bridge constitute of driving chip L298N can control direct current motor. Among which the software system is using C program. In a nutshell, the design of the circuit has the advantages of simple structure, easy implementation, and high reliability.Key words：single chip microcomputer; automatic tracing; driving circuit目录1 绪论 (5)第一章智能循迹小车概述 (5)1.1.1 循迹小车的发展历程回顾 (5)1.1.2 智能循迹分类 (6)1.1.3 智能循迹小车的应用 (7)1.2 智能循迹小车研究中的关键技术 (8)第二章智能循迹小车总体设计方案 (9)2.1 整体设计方案 (9)2.1.1 系统设计步骤 (9)2.1.2 系统基本组成 (9)2.2 整体控制方案确定 (10)3 系统的硬件设计 (10)3.1 单片机电路的设计 (10)3.1.1 单片机的功能特性描述 (10)3.1.2 晶振电路 (12)3.1.3 复位电路 (12)3.2 传感器模块 (14)3.2.1 传感器模块的一般工作原理 (14)3.2.2红外对管的介绍 (14)3.2.3. 传感器模块的整体电路 (15)3.3 电机驱动电路 (16)3.3.1L298N引脚结构 (17)3.3.2电机驱动原理 (18)3.4 电源模块 (21)3.5 小车运动逻辑 (22)第四章小车硬件的组装与调试............................................................... 错误!未定义书签。

基于单片机的智能小车外文文献翻译

毕业设计（论文）外文文献翻译系部机电工程系专业车辆工程学生姓名学号指导教师职称讲师2013年2 月Electric intelligent car based on SCMThrough research and to realize a photoelectric sensor for sensitive components ,with AT89C51 as control core electric tracing of intelligent control carbonylation-the car ,the system is also including dc motor ,L9110 chips and LM324 comparator etc. The design USES AT89C51 as intelligent car core controller.The system takes microcontroller as control core and realization of electric before Enter ,back ,turn left and right turn function .Through the Angle sensor detection the seesaw Angle change ,use incremental pl algorithm to control the electric car for balance ,and using photoelectric sensor detection black line ,make the electricity Actuation vehicle in the course of driving keep linear motion and don’t skip from atrium .1. Project DesignLight buy a sensor ,the reality of the electric car is moving quickly degrees ,bit ,buy, transportation line shape when measured quantity of real condition ,and will be measured quantity number according to preach sent to monolithic machine into line processing, but buy single chip machine according to the measured buy root different forms of several inspection according to real now to electric actuation vehicle wisdom can control system .This kind of square case real now to electric actuation vehicle dynamic shape state into the shipment do real possession in system ,control system spirit alive ,can depend ,pure degree is high ,can full foot of each item of the stockings to bed .(1)straight epidemiological speed is tasseled straight epidemiological speed department with pulse width modulation experience .meanwhile gather speed is experience .meanwhile ,its main electrical pulse width modulation by road system type variable change device ,Jane says PWM variable change device .Adjustable speed by in the department of PWM experience .Meanwhile open shut frequency rate is high ,only on electricity barnado electricity sense of filter wave can be use to get to move very small straight pulse electric flow ,electricity flow barnado electric capacity easily even tantras, department of low speed operation flat experience .meanwhile ,adjustable speed stability van is surrounded relatively wide ,can reach 1000 left light .By on electrical flow wave shape than V-M system .be in phase with flat to all electrical flow dynamic machine ,electric heat consumption and hair loss than a small .with the sample buy in open shut frequency rate is high ,and if a fast speed electrical machine ring should match close ,fasten tasseled phase can be to get very wide frequency band ,because of the fast speed ring should be good ,dynamic configuration sexual can perturbation resistance can force is powerful .According to the root ,with more than ensemble close and this set of electrical machine control project by tolerance of the quantity and electrical machine speed straight flow of hair ,the exhibitor to adopt the project with a single extremely H type can be changed into change device inverse PWM line speed .1.1 photoelectric detection module designThe intelligent car was stuck on the black line running on white paper “road”, so this module design need to detect shop on the black rubber belt drive area , including Run straight along the arc district and driving district two area .Because f the black and white paper to light reflection coefficient is different ,can according to receive reflected light .The strength of the judge “road”-the black line .this paper USES is simple and practical detection methods, namely the infrared detection method.Infrared detection method ,I use infrared ray in different colors of physical surface with different reflection properties characteristics .In the car driving process Continually to the ground to launch the infrared ,when the infrared met white ground occurs when the reflected light ,aimless and launch packed on the car of receiving tube receiving ; if Fruit is met black line is absorbed ,and than the infrared cars receiving tube receiving less than signal .1.2 signal comparative module designThis part design USES a LM324 comparator ,of sensor signal voltage received compare and amplified ,and will compare the results after Feed to the microcontroller ,used to detect sensor sensitivity ,diagram shown in figure 5 shows .When two sensors simultaneously detect light ,straight forward .When the sensor can’t detect light ,in cut-off state ,double LM324 operational amplifier output low level to microcontroller ,by program processing ,If left not detected light ,then left correct direction; If the right has not been detected light ,then turn correct direction .1.3 motor control and driving module designBecause use is double drive cars ,this part of the circuit must be able to output of two different voltage values ,respectively to controlling trolley right and left two motor drive ,the two of the wheel speed and direction of the same or different ,thus to control its advance and turning .In system design process ,use two L9110 chips to connect SCM and dc motor respectively .L9110 is for control and drive motor design two channels push-pull power amplifier application-specific integrated circuit device ,discrete circuits in monolithic IC integrated such that the peripheral equipments in lower cost and the whole machine can carry on sexual high .The core slice two a TTL/CMOS and let electricity flat lose into ,have good anti-jamming ,two output terminal can pick flooding dynamic electric machine straight to the shipment of positive reverse move and it has had a big electricity flow flooding dynamic can force ,each call way can pass over 800mA continuous current ,peak current capacity of 1.5 ~OA ; At the same time it has lower output saturation pressure drop and the static electricity ,The built-in clamp a diode can release the perceptual load of reverse current impulse ,making it the drive relays ,dc motors ,stepping motor or switch power tube the useof safe and reliable .Follow tracing car system to common AT89C51, complementarywith relatively simple components and circuit design ,the smooth completion of follow under the premise of tracing function ,and fully considered appearance ,costs ,so most of the circuit car by manual welding is complete .In the design ,we never in a circuit increase redundant functions ,but retained various hardware interface and software subroutines interface to facilitate the expansion and development after.2. System hardware design2.1 motor driver module designIn making intelligent car, right wheel respectively with two speed and Torque basic identical dc motor driven deceleration. bolt-on trunk-lid spoiler Department to install a direction wheel, then through the I/O mouth to control tow dc slowing down Motor speed and steering can be achieved on the car to the left, turn right and straight line.Motor drive using a integrated electrical machine flooding dynamic core slice L 298 N. L298N is ST the production of the company, the internal containing four channel logical drive circuit, it is a kind of tow phase four phase motor drive, namely the special contains tow H bridge of high voltage large current commander bridge type drive，acceptance criteria TTL logic level signals, be driven 46V, 2A below the motor.2.2 tracing module designTracing module mainly composed by photoelectric sensor reflex, Photoconductive resistance of the resistance of the light with the surrounding environment changes, when the LTT white lines above, light emission strongly; The LTT black line above, light emission are relatively weak. So when photoconductive resistance in white line and black line above the elements will occur significantly changes, the resistance changes value after comparator can output high level. But this way environmental influences big, work is not stable. This article actual use is RPP220 type reflex sensors made tracing module.RPR220 is an integration of reflective photoelectric detector, transmitter is a gas infrared light emitting diode and the receiver is a high sensitivity silicon photoelectric triode flat. When the light emitting diode reflected back, triode conduction and output low level2.3 obstacle avoidance module designObstacle avoidance module mainly composed by infrared reflection sensor. Infrared reflection sensor by one infrared tubes and photoelectric diode constitute, infrared tubes out to meet the infrared object reflective sex strong after be turned back, by photoelectric diode receiving, causephotoelectric diode current increases, light born this change into voltage signal, it could be processor receives and processing.2.4 remote control module designThis module will launch end USES high sensitive HL-5000 type universal television remote control, the receiver using receive frequency for 38kH receiving head 1838, this module and the single chip computer interface is very convenient. In addition, for the red outside meet after harvest of plait code letter number the department tasseled set when shipped with project of AT89C52 single chip microcomputer external interruption. In order to recognize a complete key signal, must for each coding pulse width were measured with discriminate receives the pulse is o still 1. the microcontroller timer/counter to measuring pulse width. Timer/counter except points than can be set, from except 2 to except 2048, measurable pulse width can reach 500m/s. This paper set except point for 12, namely than 12 points frequency, because the external clock is about 12MH, clock cycle for 1s, so the timer/counter for 1 per timing once s.2.5 alarm module designAlarm module core chip 110 IC, can choose application in automobile, motorcycle, alarms, personal riot device, door magnetic alarm device and etc.3. System software designThis system software modular structure, he main program, initial anti-fuzzy procedures, interrupt subroutines, delay subroutines, buttons pronunciation subroutines, buttons scanning subroutines constitutes.3.1 tracing subroutines designTracing module is designed by the left right photoelectric sensor output terminal receiving monolithic respectively, p22 and p23 tube feet, then through the microcontroller programming, produce PWM control signal. Through L 298 control motor speed, let the car to move forward, left turn, turn right and stop driving purpose.3.2 avoid barrier of programmingObstacle avoidance module is designed by the infrared reflection sensor module around the output terminal receiving MCU respectively p20 and p21 tube feet, then through the microcontroller programming, produce PWM control signal, through L298 control motor speed, let the car to move forward, left turn, turn right and stop driving purpose.3.3 remote subroutines designRemote control module is designed by the infrared sensor 1838 an output terminal of the receiving MZUp32 tube feet, then use all-purpose remote control on the remote control, then letmicrocontroller decoding, produce PWM control signal, through L298 control motor speed, let the car move forward, left turn, turn right and stop driving purpose.4. Summar yAdopts singlechip, using photoelectric senor and infrared reflection senor was designed as a detection system, can realize automatic homing line to walk, automatic obstacle avoidance, alarm and remote control functions such as intelligent car. This design is the obvious advantage of simple circuit, reliability, low cost, and easy to function of further perfecting and expansion.From 基于单片机的智能小车通过研发实现了一种一光电传感器为敏感元件，以AT89C51单片机为控制核心的电机循迹小车的智能控，该系统还包括直流电机、L9110芯片和LM324比较器等。

循迹小车毕业设计--循迹小车设计

毕业设计题目循迹小车设计英文题目The design of car tracking学生姓名：申请学位级别工学学士学号：专业：机械电子工程系别：机械与电子工程系指导教师：职称：二零一三年六月三日摘要该设计是为一个简易的循迹小车软硬件系统，该小车是基于8位的51单片机进行用控制的，循迹小车的研究意义涵盖了勘探、工业、生活以及探月工程。

循迹是基于自动引导机器人系统，用以实现小车自动识别路线，以及选择正确的路线。

从设计的功能要求出发，设计包括了小车控制系统的软件设计和硬件设计。

小车采用了简易的三轮构架式，用由前两轮驱动并控制转向的控制模式。

控制系统以STC89C52为控制核心, 由STC89C52产生PWM波，控制小车速度。

利用红外光电传感器探头对路面黑色轨迹进行检测,并确定小车当前的位置状态，再将路面检测信号反馈给STC89C52。

STC89C52对采集到的信号予以分析判断,及时控制并驱动电机以调整小车转向,从而使小车能够沿着黑色轨迹自动行驶,实现小车自动寻迹的目的。

关键词：循迹小车，STC89C52，红外光电传感器ABSTRACTThe design is a simple automatically tracing the car system, and its significance covers the industry, life, exploration, and human concern lunar exploration. The design aims to design a can of independent walking in accordance with the trajectory of human default (or completely autonomous walking) and to complete the tasks assigned to the car. The design includes control system hardware and software design. Relatively high stability of the four trusses in order to adapt to the complex terrain, before the rotation of the rear-wheel drive control mode. Control system to control the core to STC89C52 microcontroller PWM wave to control the car speed. Using infrared photoelectric sensor to detect the black track on the road and to determine the current status of the car, and then the road detection signal is fed to the microcontroller. Microcontroller to be collected signal analysis and judgment, and timely control of the drive motor to adjust the steering of the car, so that the car is traveling along the black track to achieve the purpose of the car automatically tracing.Keywords:car tracking；STC89C52；Infrared sensors目录1. 绪论 (1)1.1循迹小车概述 (1)1.1.1循迹小车的发展历程 (1)1.1.2循迹小车的应用 (2)1.2智能循迹小车的关键技术 (2)2. 方案的设计与论证 (4)2.1主控系统 (4)2.2驱动模块 (4)2.3循迹模块 (5)2.4机械系统 (5)3. 主要器件介绍 (6)3.1单片机STC89C52的介绍 (6)3.2电机介绍 (8)3.3电机驱动模块L298N的介绍 (8)3.3.1L298N的引脚功能 (9)3.3.2L298N的工作参数 (10)3.3.3L298N的逻辑控制 (10)3.4TCRT5000的介绍 (11)3.5LM324的介绍 (11)4. 硬件系统设计 (13)4.1总体设计 (13)4.2主控电路 (13)4.2.1外部时钟电路 (14)4.2.2复位电路 (14)4.2.3P0口外接上拉电阻 (15)4.3轨迹识别电路 (15)4.4电压比较电路 (16)4.5直流电机驱动电路 (17)5. 程序设计 (18)5.1程序总体框架 (18)5.2主程序模块 (20)5.3循迹程序模块 (21)5.4电机程序模块 (22)5.5定时器程序模块 (24)结论 (26)致谢 ............................................................................................... 错误！未定义书签。