智能循迹小车

2016年TI杯大学生电子设计竞赛自动循迹小车（C题）

摘要

本次设计的智能循迹小车是以单片机MSP430F5529为主控制器运用TI 公司提供LDC1314和LDC1000电感数字装换器作为循迹传感器与速度监测模块。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各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。

报告是以小车的总体设计为主要线索，包括小车的设计分析及发案论证、小车的软件设计、小车的硬件设计、以及总体的设计流程。共分为六章xxx小结。其中第一章主要是对小车总体设计及各个设计方案进行了论证，第二章是对小车硬件部分的设计做了详细的介绍，第三章重点叙述了软件的设计及流程和各种相关的算法，第四章介绍了我们小车设计的开发流程，第五章叙述了我们在设计过程中遇到的问题和解决方法，并对本次的设计活动做了总结报告和在本次活动中的心得。

The design of intelligent tracking car based on MCU msp430f5529 based controller using Ti provides LDC1314 and LDC1000 digital inductance loading converter as the tracking sensor and speed monitoring module. Will the detection data returned microcontroller for processing, at the same time, MCU to produce PWM waves to control the moving speed of the car, and real-time control of the car moving state. Also in the car also expanded the LCD as the man-machine interface, in order to facilitate the real-time data of real-time understanding of the car each monitoring sensor state machine car, because the design of the automatic vehicle tracking, the whole process of task without any manual intervention is required, and therefore no row keyboard and remote control and manual operation of the equipment. To ensure the smooth completion of the vehicle, the real-time monitoring and algorithm of the multi-channel sensor are closely combined to ensure the smooth completion of the task.

The report is in the overall design of the car as the main clues, including the hardware design of the software design of the car design analysis and demonstration of incidence, the car, the car, and the overall design process. The total is divided into six chapters XXX summary. The first chapter is mainly the car overall design and various design schemes are discussed. Chapter two is, a detailed introduction of the car hardware design, in the third chapter, the author describes the software design and the various processes and related algorithms, chapter four introduces the development process of our car design, the fifth chapter describes the problems we encountered in the design process and the methods to solve, and of the design activities do the summary report and experience in the event.

目录

第一章：方案设计与分析 (4)

一、设计要求 (4)

二、总体设计 (5)

三、方案论证 (6)

1. 小车主体设计方案 (6)

2. 电机设计方案 (7)

3. 传感器使用设计方案 (7)

4. 显示模块设计方案 (8)

5. 电源设计方案 (8)

四、单片机资源分配 (9)

五、电源分配 (10)

第二章：智能循迹小车硬件设计 (11)

一、机械设计 (11)

1．小车模块分布 (11)

2．小车传感器位置排布 (12)

3．测速计程 (12)

4．小车骨架设计 (14)

二、电路设计 (15)

1. 驱动 (15)

2. LDC1000 (17)

3. 1602液晶显示 (18)

4. 蜂鸣器 (18)

5. 单片机 (19)

三、元件清单 (20)

元件 (20)

数量 (20)

元件 (20)

数量 (20)

元件 (20)

数量 (20)

第三章：智能循迹小车软件设计 (21)

第四章：总结与心得 (23)

一、开发与调试 (23)

1．总体方案论证和确立 (23)

2.各分立模块调试 (23)

二、典型问题举例 (24)

1.电感切割铁线产生电流 (24)

2 (24)

三、总结与展望 (24)