课程设计报告循迹小车的设计

循迹小车的设计

摘要

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。该技术已经应用于汽车制造业、仓储业，食品加工业等多个行业。

本设计是基于单片机控制的电动小车，小车能够识别地上黑色轨迹线，实现循迹行走，包括电源模块、单片机模块、循迹模块、电机驱动模块。其中单片机模块作为控制器模块以STC89C52单片机为控制核心，用单片机产生PWM波，控制小车速度。利用红外光电传感器RPR220型光电对管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进行分析判断,及时控制由芯片L298N驱动的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。在此基础利用E18-D80NK 3-80cm可调红外避障传感器进行小车的避障扩展，还选用PT2262/PT2272组成的无线遥控模块对小车进行无线遥控。

本设计不仅给出了硬件设计流程、完整的硬件电路图和控制程序，还用PROTEUS实现了小车电机控制仿真。

关键词：自动循迹；单片机；Proteus仿真

Design on Automated Guided Vehicle

Abstract

Intelligent tracking is based on automatic guided robot system, used to make the car line, and choosing the right route. Automated Guided Vehicle is a use of sensor, microcontroller, motor drive and automatic control technology to achieve according to the preset mode, without human management can achieve automatic tracking navigation technology. This technology has been applied in the automobile manufacturing industry, warehousing industry, food processing industry and other industries.

The design is based on SCM control electric trolley, trolley can be identified on the black line, achieve the tracking of walking, including driving module power supply module, microcontroller module, tracking module, motor. The MCU module as the controller module with STC89C52 as control core, using microcontroller PWM wave, control car speed. The tube is used for tracing the use of infrared photoelectric sensor RPR220 type photoelectric, and road test signals back to the scm. Analysis and judgment of the collected signal microcontroller, timely control of motor driven by the chip L298N to adjust the car steering, so that the car can travel along the black path automatically, realize the purpose of automatic tracing. Based on E18-D80NK 3-80cm tunable infrared sensors for obstacle avoidance of car obstacle avoidance, also use wireless remote control module composed of PT2262/PT2272 for wireless remote control car.

This design not only gives the hardware circuit diagram and program control hardware design flow, complete, we also use PROTEUS to achieve the car motor control simulation.

Key words：tracking，microcontroller, Proteus simulation

西华大学课程设计

目录

摘要 (Ⅰ)

ABSTRACT (Ⅱ)

1 绪论 (1)

1.1智能循迹小车概述 (1)

1.1.1循迹小车的发展历程回顾 (1)

1.1.2 智能循迹分类 (2)

1.1.3 智能循迹小车的应用 (3)

1.2 智能循迹小车研究中的关键技术 (4)

2 自动循迹小车系统方案设计 (5)

2.1 自动循迹小车基本原理 (5)

2.2 总体方案设计 (5)

2.2.1 系统总体方案的设计 (5)

2.2.2 方案选择与论证 (5)

3 硬件电路的设计 (8)

3.1 自动循迹小车硬件设计.................................. 错误!未定义书签。

3.2 电源模块设计.......................................... 错误!未定义书签。

3.3 单片机模块的设计 (9)

3.4 电动机驱动模块 (15)

3.5 循迹电路设计 (17)

4 系统软件设计 (21)

4.1 系统软件流程图 (21)

4.2 程序设计 (21)

4.2.1 计时程序设计 (21)

4.2.2 主程序设计 (22)

5 系统扩展 (23)

5.1 避障功能扩展 (23)

5.2 遥控功能扩展 (25)