基于單片機(jī)的智能循跡小車外文翻譯

1、<p>　　摘要：本次設(shè)計(jì)的智能循跡小車是以單片機(jī)89c51為主控制器。運(yùn)用反射式紅外傳感器來進(jìn)行路徑檢測(cè)和速度監(jiān)測(cè)模塊。將檢測(cè)數(shù)據(jù)傳回單片機(jī)進(jìn)行處理，同時(shí)，用單片機(jī)產(chǎn)生PWM波來控制小車的行進(jìn)速度，并實(shí)時(shí)控制小車的行進(jìn)狀態(tài)。另外，在小車上還擴(kuò)展了LCD作為人機(jī)交互界面，以便于實(shí)時(shí)了解小車個(gè)監(jiān)測(cè)傳感器的狀態(tài)機(jī)小車的實(shí)時(shí)數(shù)據(jù)，由于本次設(shè)計(jì)的是智能自動(dòng)循跡小車，整個(gè)任務(wù)過程無需人工的任何干預(yù)，故而沒有進(jìn)行鍵盤及遙控等的人工操作設(shè)備

2、。用多路傳感器的實(shí)時(shí)監(jiān)測(cè)和算法的緊密配合來保證小車的順暢完成任務(wù)。 </p><p>　　關(guān)鍵字：80c51單片機(jī)，c/c++/匯編語言編程，電子智能小車，光電檢測(cè)器 </p><p><b>　　引言</b></p><p>　　智能車輛是一個(gè)運(yùn)用計(jì)算機(jī)、傳感、信息、通信、導(dǎo)航、人工智能及自動(dòng)控制等技術(shù)來實(shí)現(xiàn)環(huán)境感知、規(guī)劃決策和自動(dòng)行駛為一體

3、的高新技術(shù)綜合體。它在軍事、民用和科學(xué)研究等方面已獲得了應(yīng)用，對(duì)解決道路交通安全提供了一種新的途徑</p><p>　　隨著汽車工業(yè)的迅速發(fā)展，關(guān)于汽車的研究也就越來越受人關(guān)注。全國(guó)電子大賽和省內(nèi)電子大賽幾乎每次都有智能小車這方面的題目，全國(guó)各高校也都很重視該題目的研究，許多國(guó)家已經(jīng)把電子設(shè)計(jì)比賽作為創(chuàng)新教育的戰(zhàn)略性手段。電子設(shè)計(jì)涉及到多個(gè)學(xué)科，機(jī)械電子、傳感器技術(shù)、自動(dòng)控制技術(shù)、人工智能控制、計(jì)算機(jī)與通信技術(shù)等

4、等，是眾多領(lǐng)域的高科技。電子設(shè)計(jì)技術(shù)，它是一個(gè)國(guó)家高科技實(shí)例的一個(gè)重要標(biāo)準(zhǔn)，可見其研究意義很大</p><p>　　本次設(shè)計(jì)雖然只是一個(gè)演示模型，但是具有充分的科學(xué)性和實(shí)用性。首先我們根據(jù)交通路面的復(fù)雜情況，按照適當(dāng)?shù)谋壤谱鞒鲆粋€(gè)路況模型，包括彎道、直道以及路面上設(shè)置的障礙物等。在彎、直道上，小車沿著預(yù)定軌道自由行使，當(dāng)小車遇到障礙物時(shí)，脈沖調(diào)制的紅外線傳感器將檢測(cè)到的信號(hào)發(fā)送給單片機(jī)，單片機(jī)根據(jù)程序發(fā)出相應(yīng)的

5、控制信號(hào)控制小車自動(dòng)避開障礙物，進(jìn)行倒車、前進(jìn)、左轉(zhuǎn)、右轉(zhuǎn)等動(dòng)作</p><p><b>　　主題部分</b></p><p>　　智能車輛是集環(huán)境感知、規(guī)劃決策、多等級(jí)輔助駕駛等功能于一體的綜合系統(tǒng)，是智能交通系統(tǒng)的一個(gè)重要組成部分。它在軍事、民用、太空開發(fā)等領(lǐng)域有著廣泛的應(yīng)用前景。本次設(shè)計(jì)對(duì)智能小車的控制系統(tǒng)進(jìn)行了研究，設(shè)計(jì)實(shí)現(xiàn)一個(gè)基于路徑規(guī)劃處理的智能小車控制系

6、統(tǒng)</p><p>　　2.1 理論的提出</p><p>　　科技的進(jìn)步帶動(dòng)了產(chǎn)品的智能化，單片機(jī)的應(yīng)用更是加快了發(fā)展的步伐，它的應(yīng)用范圍日益廣泛，已經(jīng)遠(yuǎn)遠(yuǎn)的超出了計(jì)算機(jī)科學(xué)領(lǐng)域。小到玩具、信用卡，大到航天飛機(jī)、機(jī)器人，從實(shí)現(xiàn)數(shù)據(jù)采集、遠(yuǎn)程控制、模糊控制等智能系統(tǒng)帶人類的日常生活，到處離不開單片機(jī)，此設(shè)計(jì)正是單片機(jī)的一個(gè)典型的應(yīng)用。此設(shè)計(jì)通過實(shí)現(xiàn)了小車的無人駕駛，通過對(duì)路面的檢測(cè)，由單

7、片機(jī)來判斷控制其小車的反應(yīng)情況，使其變得智能化，實(shí)現(xiàn)自動(dòng)的前進(jìn)，轉(zhuǎn)彎，停止功能，此系統(tǒng)還不斷的完善后可以應(yīng)用到道路檢測(cè)，安全巡邏中，能滿足社會(huì)的需求。</p><p>　　在設(shè)計(jì)上，使用連個(gè)傳感器來檢測(cè)路面的情況，傳感器的心海比較微弱，采用一個(gè)放大器進(jìn)行比較放大，并將其信號(hào)輸入到控制器，在受控制端使用步進(jìn)電機(jī)，因?yàn)椴竭M(jìn)電機(jī)是用電脈沖進(jìn)行控制的，只要從控制器輸出滿足步進(jìn)電機(jī)功過的固定控制字即可。此外步進(jìn)電機(jī)的運(yùn)作還

8、要一個(gè)驅(qū)動(dòng)電路，故電路中還要加入一個(gè)驅(qū)動(dòng)電路，各個(gè)功能模塊對(duì)電源電流的要求不同，對(duì)電源部分設(shè)置轉(zhuǎn)換電路，從而滿足各個(gè)部分的需要。經(jīng)過元件的比較選擇，設(shè)計(jì)出電路原理圖和電路板，并做好硬件的調(diào)試，系統(tǒng)往往是軟件和硬件兩者相結(jié)合的有機(jī)整體。軟件上，使用51單片機(jī)的定時(shí)器中斷來控制路面檢測(cè)間隔和小車的運(yùn)動(dòng)及速度。由于帶那路比較簡(jiǎn)單，就采用較為傳統(tǒng)的匯編語言進(jìn)行程序設(shè)計(jì)。對(duì)于程序設(shè)計(jì)的正確性，用較常用的keil c51仿真軟件進(jìn)行仿真驗(yàn)證，最后便

9、是軟硬件的綜合調(diào)試，證明本設(shè)計(jì)方案的正確性和可行性。</p><p>　　2.2 電子智能小車的設(shè)計(jì)要求</p><p>　　①電動(dòng)車能夠能夠按照行使路線跑完全程； ②電動(dòng)車能存儲(chǔ)并顯示檢測(cè)到的金屬片數(shù)目以及金屬片至起跑線的距離； ③要求電動(dòng)車行使完全程后能夠準(zhǔn)確的顯示電動(dòng)車全程行使時(shí)間； ④電動(dòng)車在行使過程中不能與障礙物碰撞。</p><p>&

10、lt;b>　　2.3計(jì)算摘要：</b></p><p>　　本次設(shè)計(jì)的智能循跡小車是以單片機(jī)89c51為主控制器。運(yùn)用反射式紅外傳感器來進(jìn)行路徑檢測(cè)和速度監(jiān)測(cè)模塊。將檢測(cè)數(shù)據(jù)傳回單片機(jī)進(jìn)行處理，同時(shí)，用單片機(jī)產(chǎn)生PWM波來控制小車的行進(jìn)速度，并實(shí)時(shí)控制小車的行進(jìn)狀態(tài)。另外，在小車上還擴(kuò)展了LCD作為人機(jī)交互界面，以便于實(shí)時(shí)了解小車個(gè)監(jiān)測(cè)傳感器的狀態(tài)機(jī)小車的實(shí)時(shí)數(shù)據(jù)，由于本次設(shè)計(jì)的是智能自動(dòng)循跡小

11、車，整個(gè)任務(wù)過程無需人工的任何干預(yù)，故而沒有進(jìn)行鍵盤及遙控等的人工操作設(shè)備。用多路傳感器的實(shí)時(shí)監(jiān)測(cè)和算法的緊密配合來保證小車的順暢完成任務(wù)。 </p><p>　　關(guān)鍵字：80c51單片機(jī)，c/c++/匯編語言編程，電子智能小車，光電檢測(cè)器 </p><p><b>　　引言</b></p><p>　　智能車輛是一個(gè)運(yùn)用計(jì)算機(jī)、傳感、信息、通

12、信、導(dǎo)航、人工智能及自動(dòng)控制等技術(shù)來實(shí)現(xiàn)環(huán)境感知、規(guī)劃決策和自動(dòng)行駛為一體的高新技術(shù)綜合體。它在軍事、民用和科學(xué)研究等方面已獲得了應(yīng)用，對(duì)解決道路交通安全提供了一種新的途徑</p><p>　　隨著汽車工業(yè)的迅速發(fā)展，關(guān)于汽車的研究也就越來越受人關(guān)注。全國(guó)電子大賽和省內(nèi)電子大賽幾乎每次都有智能小車這方面的題目，全國(guó)各高校也都很重視該題目的研究，許多國(guó)家已經(jīng)把電子設(shè)計(jì)比賽作為創(chuàng)新教育的戰(zhàn)略性手段。電子設(shè)計(jì)涉及到多個(gè)

13、學(xué)科，機(jī)械電子、傳感器技術(shù)、自動(dòng)控制技術(shù)、人工智能控制、計(jì)算機(jī)與通信技術(shù)等等，是眾多領(lǐng)域的高科技。電子設(shè)計(jì)技術(shù)，它是一個(gè)國(guó)家高科技實(shí)例的一個(gè)重要標(biāo)準(zhǔn)，可見其研究意義很大</p><p>　　本次設(shè)計(jì)雖然只是一個(gè)演示模型，但是具有充分的科學(xué)性和實(shí)用性。首先我們根據(jù)交通路面的復(fù)雜情況，按照適當(dāng)?shù)谋壤谱鞒鲆粋€(gè)路況模型，包括彎道、直道以及路面上設(shè)置的障礙物等。在彎、直道上，小車沿著預(yù)定軌道自由行使，當(dāng)小車遇到障礙物時(shí)，

14、脈沖調(diào)制的紅外線傳感器將檢測(cè)到的信號(hào)發(fā)送給單片機(jī)，單片機(jī)根據(jù)程序發(fā)出相應(yīng)的控制信號(hào)控制小車自動(dòng)避開障礙物，進(jìn)行倒車、前進(jìn)、左轉(zhuǎn)、右轉(zhuǎn)等動(dòng)作</p><p><b>　　主題部分</b></p><p>　　智能車輛是集環(huán)境感知、規(guī)劃決策、多等級(jí)輔助駕駛等功能于一體的綜合系統(tǒng)，是智能交通系統(tǒng)的一個(gè)重要組成部分。它在軍事、民用、太空開發(fā)等領(lǐng)域有著廣泛的應(yīng)用前景。本次設(shè)計(jì)對(duì)

15、智能小車的控制系統(tǒng)進(jìn)行了研究，設(shè)計(jì)實(shí)現(xiàn)一個(gè)基于路徑規(guī)劃處理的智能小車控制系統(tǒng)</p><p>　　4.1 理論的提出</p><p>　　科技的進(jìn)步帶動(dòng)了產(chǎn)品的智能化，單片機(jī)的應(yīng)用更是加快了發(fā)展的步伐，它的應(yīng)用范圍日益廣泛，已經(jīng)遠(yuǎn)遠(yuǎn)的超出了計(jì)算機(jī)科學(xué)領(lǐng)域。小到玩具、信用卡，大到航天飛機(jī)、機(jī)器人，從實(shí)現(xiàn)數(shù)據(jù)采集、遠(yuǎn)程控制、模糊控制等智能系統(tǒng)帶人類的日常生活，到處離不開單片機(jī)，此設(shè)計(jì)正是單片

16、機(jī)的一個(gè)典型的應(yīng)用。此設(shè)計(jì)通過實(shí)現(xiàn)了小車的無人駕駛，通過對(duì)路面的檢測(cè)，由單片機(jī)來判斷控制其小車的反應(yīng)情況，使其變得智能化，實(shí)現(xiàn)自動(dòng)的前進(jìn)，轉(zhuǎn)彎，停止功能，此系統(tǒng)還不斷的完善后可以應(yīng)用到道路檢測(cè)，安全巡邏中，能滿足社會(huì)的需求。</p><p>　　在設(shè)計(jì)上，使用連個(gè)傳感器來檢測(cè)路面的情況，傳感器的心海比較微弱，采用一個(gè)放大器進(jìn)行比較放大，并將其信號(hào)輸入到控制器，在受控制端使用步進(jìn)電機(jī)，因?yàn)椴竭M(jìn)電機(jī)是用電脈沖進(jìn)行控制

17、的，只要從控制器輸出滿足步進(jìn)電機(jī)功過的固定控制字即可。此外步進(jìn)電機(jī)的運(yùn)作還要一個(gè)驅(qū)動(dòng)電路，故電路中還要加入一個(gè)驅(qū)動(dòng)電路，各個(gè)功能模塊對(duì)電源電流的要求不同，對(duì)電源部分設(shè)置轉(zhuǎn)換電路，從而滿足各個(gè)部分的需要。經(jīng)過元件的比較選擇，設(shè)計(jì)出電路原理圖和電路板，并做好硬件的調(diào)試，系統(tǒng)往往是軟件和硬件兩者相結(jié)合的有機(jī)整體。軟件上，使用51單片機(jī)的定時(shí)器中斷來控制路面檢測(cè)間隔和小車的運(yùn)動(dòng)及速度。由于帶那路比較簡(jiǎn)單，就采用較為傳統(tǒng)的匯編語言進(jìn)行程序設(shè)計(jì)。對(duì)

18、于程序設(shè)計(jì)的正確性，用較常用的keil c51仿真軟件進(jìn)行仿真驗(yàn)證，最后便是軟硬件的綜合調(diào)試，證明本設(shè)計(jì)方案的正確性和可行性。</p><p>　　4.2 電子智能小車的設(shè)計(jì)要求</p><p>　?、匐妱?dòng)車能夠能夠按照行使路線跑完全程； ②電動(dòng)車能存儲(chǔ)并顯示檢測(cè)到的金屬片數(shù)目以及金屬片至起跑線的距離； ③要求電動(dòng)車行使完全程后能夠準(zhǔn)確的顯示電動(dòng)車全程行使時(shí)間； ④電動(dòng)車

19、在行使過程中不能與障礙物碰撞。</p><p>　　4.3計(jì)算機(jī)網(wǎng)絡(luò)教學(xué)網(wǎng)站的總體構(gòu)思</p><p>　　采用89c51單片機(jī)作為小車的控制單元，在小車的前端就八路從外傳感器，作為小車進(jìn)入車庫(kù)過程中黑帶的檢測(cè)元件，在小車的后端在接上八路紅外線傳感器作為小車退出車庫(kù)時(shí)的黑帶檢測(cè)元件，采用LJ18A3-8-Z/BX電感式接近開關(guān)作為車庫(kù)內(nèi)鐵片的檢測(cè)元件，單片機(jī)接受到傳感器檢測(cè)到的信號(hào)后通過相

20、應(yīng)的程序控制小車的前進(jìn)，后退，轉(zhuǎn)彎，從而使小車的性能指標(biāo)滿足本次設(shè)計(jì)的要求。</p><p>　　4.3.1 設(shè)計(jì)思路</p><p>　　智能小車是智能車輛研究的一個(gè)分支。它以車輪作為移動(dòng)機(jī)構(gòu)、能夠?qū)崿F(xiàn)自主 行駛，所以我們稱之為智能小車。智能小車具有機(jī)器人的基本特征——易于編程。 它與遙控小車的不同之處在于，后者需要操作員來控制其轉(zhuǎn)向、啟停和進(jìn)退，比較 先進(jìn)的遙控車還能控制其速度(常見

21、的模型小車都屬于這類遙控車)；而智能小車 則可以通過計(jì)算機(jī)編程來實(shí)現(xiàn)其對(duì)小車啟停、行駛方向以及速度的控制，無需人工 干預(yù)。操作員可以通過修改智能小車的計(jì)算機(jī)程序或者某些數(shù)據(jù)來改變它的行駛方 式。這種可以通過編程來控制、改變小車行駛方式的特性是智能小車的最大特點(diǎn)。 智能小車控制系統(tǒng)的研究目的是使得小車行駛具有更高自主性。如果任意給定 小車一條無障路徑，通過該系統(tǒng)，小車就可以得到系統(tǒng)對(duì)路徑圖形處理后的數(shù)據(jù)(位 移與轉(zhuǎn)角)，并能根據(jù)位移和轉(zhuǎn)角

22、信息按照預(yù)定路徑行進(jìn)</p><p>　　4.3.2 控制系統(tǒng)結(jié)構(gòu)分析</p><p>　　根據(jù)上述設(shè)計(jì)思路，可將智能小車控制系統(tǒng)的結(jié)構(gòu)分為兩層</p><p><b>　　規(guī)劃層</b></p><p>　　上位機(jī)控制系統(tǒng)，規(guī)劃層提供的是小車行駛的全局信息，包括路徑處理模塊和 通信模塊。它要解決的基本問題有</

23、p><p>　　使用什么工具處理小車的路徑圖形；</p><p>　　建立小車的運(yùn)動(dòng)模型，計(jì)算出小車行駛所需的數(shù)據(jù)；</p><p>　　建立小車的運(yùn)動(dòng)模型，計(jì)算出小車行駛所需的數(shù)據(jù)；</p><p><b>　　行為層</b></p><p>　　下位機(jī)控制系統(tǒng)，行為層是智能小車控制系統(tǒng)的底層結(jié)構(gòu)

24、，實(shí)現(xiàn)對(duì)小車行駛的 實(shí)時(shí)控制，它包括通信模塊、電機(jī)控制模塊和數(shù)據(jù)采集模塊。它要解決的基本問題 有：</p><p>　　接收、處理上位機(jī)發(fā)送的數(shù)據(jù)信息；</p><p>　　設(shè)計(jì)步進(jìn)電機(jī)的控制系統(tǒng)；</p><p>　　采集小車的位移和轉(zhuǎn)角信息，定位小車姿態(tài)，分析系統(tǒng)控制誤差；</p><p>　　4.3.3 總設(shè)計(jì)方案</p>

25、<p>　　由系統(tǒng)結(jié)構(gòu)得到智能小車控制系統(tǒng)的命令流程：</p><p>　　啟動(dòng)AutoCAD，繪制或選擇一條封閉曲線為小車路徑，拾取小車的起始路徑圖元</p><p>　　對(duì)選取的路徑圖形進(jìn)行處理，使小車轉(zhuǎn)彎處存在的棱角在最小轉(zhuǎn)彎半徑范圍外以圓弧方式過渡</p><p>　　生成新的路徑圖形，模擬小車的運(yùn)動(dòng)過程；</p><p>

26、;　　計(jì)算出小車行駛所需要的位移和車輪轉(zhuǎn)角，并將此數(shù)據(jù)發(fā)送給下位機(jī)</p><p>　　下位機(jī)接收數(shù)據(jù)后，通過軟件編程控制小車車輪的轉(zhuǎn)速和轉(zhuǎn)角，使其按照 預(yù)定路徑前進(jìn)</p><p>　　一個(gè)完整的控制系統(tǒng)要求系統(tǒng)的各功能模塊聯(lián)系緊密，根據(jù)上述命令流程和它們之間的關(guān)系，可得系統(tǒng)的總設(shè)計(jì)方案。</p><p>　　4.4設(shè)計(jì)主要有以下幾個(gè)模塊組成</p>

27、<p>　　信息采集模塊：信息采集部分是由光電檢測(cè)和運(yùn)算放大模塊組成，光電檢測(cè)有尋跡檢測(cè)和測(cè)速檢測(cè)兩個(gè)部分。將檢測(cè)到的信號(hào)經(jīng)過預(yù)算放大模塊lm324放大整形后送給單片機(jī)處理，其核心部分是幾個(gè)光電傳感器。</p><p>　　控制處理模塊：控制處理模塊是一一片stc89c52單片機(jī)為核心，單片機(jī)將從采集到的信息進(jìn)行判斷后，按照預(yù)定的算法處理，把處理的結(jié)果送交電機(jī)驅(qū)動(dòng)和液晶顯示模塊，使之做出相應(yīng)的動(dòng)作。&

28、lt;/p><p>　　執(zhí)行模塊：執(zhí)行模塊是由液晶顯示、電機(jī)驅(qū)動(dòng)及電機(jī)、蜂鳴器三部分組成。液晶主要是將單片機(jī)處理的結(jié)果進(jìn)行實(shí)時(shí)顯示，方便及時(shí)用戶了解系統(tǒng)當(dāng)前的狀態(tài)，電機(jī)驅(qū)動(dòng)根據(jù)單片機(jī)的指令對(duì)兩個(gè)電機(jī)進(jìn)行動(dòng)作，使之能夠根據(jù)需要作出相應(yīng)的加速、減速、轉(zhuǎn)彎、停車等的動(dòng)作，以達(dá)到預(yù)期的目的。蜂鳴器主要是根據(jù)要求在特定的位置作出出響應(yīng)來報(bào)告位置。</p><p><b>　　五﹑ 參考文獻(xiàn)&

29、lt;/b></p><p>　　[1]徐國(guó)華 主編，移動(dòng)機(jī)器人的發(fā)展現(xiàn)狀及其趨勢(shì)[J]．機(jī)器人技術(shù)與應(yīng)用，2001(3)</p><p>　　[2]黨宏社 主編，智能車輛系統(tǒng)發(fā)展及其關(guān)鍵技術(shù)概述[J]．公路交通科技，2002(4)</p><p>　　[3]尹念東 主編，智能車輛的研究及前景[J]．上海汽車，2002(2)</p><p&

30、gt;　　[4]王榮本 主編，世界智能車輛研究概述[J]．公路交通科技，2001(10</p><p>　　[5]王建農(nóng) 主編．自主移動(dòng)機(jī)器人的導(dǎo)航研究[R]．機(jī)器人，199</p><p>　　[6]Dickmanns，E．D，A．Zapp．Auto high speed road vehicle guidance[J]．computer,1987</p><p>

31、;　　[7]姚 佳 主編，智能小車的蔽障及路徑規(guī)劃[D]．東南大學(xué)碩士論文．2005</p><p>　　[8]徐國(guó)華 主編，譚民移動(dòng)機(jī)器人的發(fā)展現(xiàn)狀及其趨勢(shì)[J]．機(jī)器人技術(shù)與應(yīng)用，2001(3)</p><p>　　[9]白井良明[同]，機(jī)器人工程[M]．北京：科學(xué)出版社，2001</p><p>　　[10]張毅剛 主編，新編MCS-51單片機(jī)應(yīng)用設(shè)計(jì)，第一

32、版,哈爾濱工業(yè)大學(xué)出版社,2003</p><p>　　[11]劉南平 主編，電子產(chǎn)品設(shè)計(jì)與制作技術(shù)，科學(xué)出版社，2008</p><p>　　[12]楊 剛 主編，電子系統(tǒng)設(shè)計(jì)與實(shí)踐，電子工業(yè)出版社，2009.3</p><p>　　[13]余祖俊 主編，微機(jī)監(jiān)測(cè)與控制應(yīng)用系統(tǒng)設(shè)計(jì)， 北方交通大學(xué)出版社，2001.12</p><p>　

33、　[14]溫志明 主編，運(yùn)動(dòng)控制系統(tǒng)分析與應(yīng)用，國(guó)防工業(yè)出版社，2008.2</p><p>　　[15]催維娜 主編，智能電子制作，科學(xué)出版社，2007</p><p>　　[16]李忠文 主編，實(shí)用電機(jī)控制電路，化學(xué)工業(yè)出版社，2003.4</p><p>　　[17]張紅潤(rùn) 主編，智能技術(shù)——系統(tǒng)設(shè)計(jì)與開發(fā)，北京航空航天出版社，2007.2</p>

34、<p>　　[18]陳鐵軍 主編，智能控制理論及應(yīng)用，清華大學(xué)出版社，2009.1</p><p>　　[19]劉少?gòu)?qiáng) 主編，傳感器設(shè)計(jì)與應(yīng)用實(shí)例，中國(guó)電力出版社，2008</p><p>　　[20]何立民 主編，單片機(jī)應(yīng)用系統(tǒng)設(shè)計(jì),北京：航天航空大學(xué)出版社</p><p>　　[21]李廣弟 主編，單片機(jī)基礎(chǔ),北京：北京航空航天大學(xué)出版社,2001

35、</p><p>　　[22]何希才 主編，新型實(shí)用電子電路400例,電子工業(yè)出版社,2000</p><p>　　[23]趙負(fù)圖 主編,傳感器集成電路手冊(cè),第一版,化學(xué)工業(yè)出版社,2004</p><p>　　[24]陳伯時(shí) 主編，電力拖動(dòng)自動(dòng)控制系統(tǒng),第二版,北京:機(jī)械工業(yè)出版社,2000年6月</p><p>　　Abstract: t

36、he design of intelligent tracking the car based on single chip microcomputer 89 c51 controller. Use reflective infrared sensor to test path and speed monitoring module. Will detect data back to the single chip microcompu

37、ter for processing, at the same time, using single-chip microcomputer to produce PWM wave to control the speed of the car, and real-time control of the car's moving state. In addition, also expanded the LCD on the ca

38、r as the human-computer interaction interface, in ord</p><p>　　Key words: 80 c51, c/c + +, assembly language programming, electronic smart car photoelectric detector</p><p>　　The introduction<

39、;/p><p>　　Intelligent vehicle is a use of computer, sensor, information, communication, navigation, artificial intelligence and automatic control technology to realize the environment awareness, planning decisi

40、on and automatic drive of high and new technology. It in aspects such as military, civil and scientific research has received application, to solve the traffic safety provides a new way</p><p>　　With the rap

41、id development of automobile industry, the research about the car is becoming more and more attention by people. Contest of national competition and the province of electronic intelligent car almost every time this aspec

42、t of the topic, the national various universities are also attaches great importance to research on the topic, many countries have put the electronic design competition as a strategic means of innovative education. Elect

43、ronic design involving multiple disciplines, mac</p><p>　　The design though just a demo model, but is full of scientific and practical. First we according to the complex situation of road traffic, in accorda

44、nce with the appropriate author to make a road model, including bend, straight and pavement set obstacles, etc. On curved and straight, the car along the orbit free exercise, when the small car meet obstacles, pulse modu

45、lation infrared sensors to detect the signal sent to the microcontroller, a corresponding control signal according to the program M</p><p>　　Subject parts</p><p>　　Intelligent vehicle is a conce

46、ntration of environment awareness, planning decision, multi-scale auxiliary driving, and other functions in an integrated system, is an important part of intelligent transportation system. In military, civilian, space ex

47、ploration and other fields has a broad application prospect. The design of smart car control system are studied, based on path planning is a process of the intelligent car control system</p><p>　　2.1 theory

48、is put forward</p><p>　　The progress of science and technology of intelligent led products, but also accelerated the pace of development, MCU application scope of its application is increasingly wide, has go

49、ne far beyond the field of computer science. Small to toys, credit CARDS, big to the space shuttle, robots, from data acquisition, remote control and fuzzy control, intelligent systems with the human daily life, everywhe

50、re is dependent on the single chip microcomputer, this design is a typical application of single </p><p>　　In design, the use of the sensors to detect road surface condition, sensor central sea are faint and

51、 adopts a comparing amplifier amplification, and the signal input to the controller, the controlled end using stepper motor, because of the step motor is controlled electrical pulse, as long as the output from the contro

52、ller to satisfy stepper motor merits of fixed control word. In operation of stepping motor and a driving circuit, it also to join a drive circuit in the circuit, each function modu</p><p>　　2.2 electronic in

53、telligent car design requirements</p><p>　　(1) electric vehicles can be able to according to the course to run all the way; (2) electric vehicles can store and display the number of detected metal and sheet

54、metal to the starting line in the distance; (3) are accurately electric cars after exercising all the way to the display of the electric vehicle the entire exercise time; (4) electric cars can't collisions with obsta

55、cles in the process of exercise.</p><p>　　2.3 the general conception of computer network teaching website</p><p>　　Using 89 c51 as the car's control unit, sensor eight-way from outside, in t

56、he front of the car, as a black belt in the process of the car into the garage detecting element, at the rear end of the car when connected to eight-channel infrared sensors as the car pulled out of the garage of a black

57、 belt in detecting element, the LJ18A3-8 - Z/BX inductive proximity switch as garage iron detecting element, the microcontroller after receiving sensor detects the signal through the corresponding procedur</p><

58、;p>　　2.3.1 design ideas</p><p>　　Intelligent car is a branch of intelligent vehicle research. It with wheels as mobile mechanism, to realize autonomous driving, so we call it the smart car. Smart car has

59、the basic features of robot, easy to programming. It with remote control car the difference is that the latter requires the operator to control the steering, rev. Stop, and in a more advanced car remote control can contr

60、ol the speed (common model of the car belongs to this type of remote control car); While the smart car can be</p><p>　　2.3.2 control system structure analysis</p><p>　　According to the above des

61、ign idea, the structure of the intelligent car control system can be divided into two layers</p><p>　　The planning layer</p><p>　　PC control system, the planning layer provides global informatio

62、n was driving the car, including path processing module and communication module. To solve the basic problem with it</p><p>　　Use what tools to deal with the car path graph;</p><p>　　Car movemen

63、t model is established to calculate the data required for car driving;</p><p>　　Car movement model is established to calculate the data required for car driving;</p><p>　　Behavior layer</p>

64、;<p>　　Lower machine control system, the behavior is the underlying structure of the intelligent car control system, realize the real-time control of the car driving, it includes communication module, motor contro

65、l module and data acquisition module. It is to solve the basic problems are:</p><p>　　Receiving, processing, PC sends data information;</p><p>　　Design of stepping motor control system;</p>

66、;<p>　　Car displacement and Angle of the information collected, positioning, analysis of error control system;</p><p>　　2.3.3 the total design scheme</p><p>　　By the system structure has

67、the smart car control system of the process:</p><p>　　Start AutoCAD drawing, or choose a closed curve as the car path, pick up the car starting $path graph</p><p>　　To choose the path of the gra

68、phics processing, make the car turning of edges on the minimum turning radius in circular arc transition</p><p>　　Generate a new path graphics, simulation of car movement process;</p><p>　　Calcu

69、late the displacement and driving car need wheel Angle, and then sends the data to the machine</p><p>　　Under the machine after receiving data, through software programming to control the car wheel rotation

70、speed and Angle, so that it is in accordance with the scheduled path forward</p><p>　　A complete control system requirements of the system is closely linked to each function module, according to the order pr

71、ocess and the relationship between them, the total design scheme of the system is available.</p><p>　　2.4 design of basically has the following several modules</p><p>　　Information collection mo

72、dules: information collection part is composed of photoelectric detection and operation amplifier module, photoelectric detection were tracing test and speed test of two parts. Will detect the signal after budget amplifi

73、er lm324 amplification module plastic for SCM processing, its core part is several photoelectric sensor.</p><p>　　Control processing module, processing module is a stc89c52 MCU as the core, the microcontroll

74、er will be collected from the information after the judgement, in accordance with the predetermined algorithm processing, the processing results to the motor driver and liquid crystal display module, makes the correspond

75、ing action.</p><p>　　Perform modules: module consists of liquid crystal display (LCD), motor drive and motor, buzzer of three parts. Are handled will microcontroller LCD real-time display of the result, conv

76、enient for users to understand the current state of the system in time, motor driver based on single chip microcomputer instruction for the two motor movements, can according to need to make the corresponding action such

77、 as acceleration, deceleration, turning and parking, in order to achieve the desired purpose. </p><p>　　references</p><p>　　[1] naijing editor, development status and trend of mobile robot [J].

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