机械5

救援小车的设计 摘要 自动循迹避障小车在工业和生产上都有广泛运用，为了培养大学生对循迹避障的运用，循迹避障机器人最近几年一直是各类全国大学生机电类比赛的主要题目。而本次题目要求小车能根据外部环境的变化而做出智能的判断并成功执行题目要求的循迹、避障和发现目标的任务。 本设计采用单片机控制技术为核心，通过对各类传感器的合理运用以达到设计要求。本系统主要由单片机、红外传感器、光电接近开关、直流电机、稳压芯片组成。系统采用可充电电池作为总电源，并通过稳压芯片进行稳压分别对各部分电路进行供电。其中系统的数据采集部分采用5组红外对管对地面信息进行数据收集，并且再利用两组光电接近开关对障碍物进行数据的收集；然后将收集到的外部数据信息传输到单片机上根据程序进行相应的数据处理，从而使小车系统能准确、快速地采集处理外部环境信息并反馈到小车系统执行部分去。最后根据单片机对外部信息的处理结果对两个直流电机进行控制从而实现小车根据外部环境自动进行循迹、避障、发现目标的操作；并通过单片机对蜂鸣器和LED的控制实现光电报警。 整个系统的电路机构简单，可靠性好。并且本救援小车系统具有执行效率高、反应快速和低成本等优点。根据小车调试运行情况来说，本次设计能很好地根据外部环境的变化执行预定任务。 关键词：救援小车；L298N；红外对管；STC89C52；直流电机；光电开关 Abstract Automatic tracki
ng obstacle avoida
nce for car i
ndustry a
nd productio
n,widely used, i
n order to develop the use of college stude
nts o
n the tracki
ng of obstacle avoida
nce, tracki
ng, obstacle avoida
nce robot i
n rece
ntyears has bee
n the mai
n subject of thevarious types of Natio
nal College Stude
nts of machi
nery a
nd electro
nic game. The subject car cha
nges i
n the exter
nal e
nviro
nme
nt a
nd to make i
ntellige
nt judgme
nts a
ndthe successful impleme
ntatio
n of the subject requireme
nts tracki
ng, obstacle avoida
nce,a
nd fou
nd the target task. This desig
n uses a si
ngle-chip co
ntrol tech
nology as the core, through the ratio
nal use ofvarious types of se
nsors to meet the desig
n requireme
nts. The system mai
nly co
nsists of the microco
ntroller, i
nfrared se
nsors, photoelectric proximity switches, DC motors,voltage regulator chip. The system uses a rechargeable battery as the total power supplyvoltage regulator a
nd the regulator chip o
n the part of the circuit power supply. The system i
ncludes data acquisitio
n part of group of i
nfrared tubes o
n the grou
nd i
nformatio
n data collectio
n, a
nd use of two sets of photoelectric proximity switch o
n the obstacles to data collectio
n; the
n collected from the exter
nal data tra
nsmissio
n to the MCU accordi
ng to the procedures the correspo
ndi
ng data processi
ng, so that the car system ca
n accurately a
nd quickly collecti
ng a
nd processi
ng the exter
nal e
nviro
nme
nt for i
nformatio
n a
nd feedback to the operative part to go to the car system. The last two DC motor co
ntrol i
n order to achieve the car is automatically carried out accordi
ng to theexter
nal e
nviro
nme
nt, tracki
ng, obstacle avoida
nce, fou
nd that the operatio
n of the target;a
nd photoelectric alarm buzzer a
nd LED co
ntrol by the microco
ntroller accordi
ng to the results of si
ngle-chip processi
ng of exter
nal i
nformatio
n. Circuit body of thewhole system is simple a
nd good reliability. A
nd the rescuevehicle systemwith high efficie
ncy i
n the impleme
ntatio
n, fast respo
nse a
nd low cost adva
ntages. For debuggi
ng a
nd ru
n
ni
ng u
nder the car, the desig
n cha
nges i
n theexter
nal e
nviro
nme
nt perform the i
nte
nded task. Keywords: Rescue car ; L298N;
nfrared Emitti
ng Diode ; STC89C52; DC motor；Photoelectric switch 目录 引言1 1方案的设计与论证2 1.1小车车体结构2 1.2主控系统2 1.3电机模块3 1.4电机驱动模块4 1.5电源模块5 1.6稳压模块6 1.7循迹传感器模块6 1.8避障模块7 2硬件设计8 2.1总体设计思路和方案的确定8 2.2声光报警电路设计9 2.3小车驱动部分的电路设计10 2.4小车传感部分的电路设计12 2.5主控电路设计13 3软件设计14 3.1主程序流程框图15 3.2电机驱动15 3.3循迹模块15 3.4避障模块16 4制作安装与调试18 4.1 PCB的设计制作与安装18 4.2小车的调试18 5结论19 致谢20 参考文献21 附录22