循迹小车毕业设计.docVIP

摘 要 本文以山东省大学生机器人设计大赛为背景,设计制作两辆能够自动识别黑色防滑胶带围成的椭圆轨道并沿其行驶的同步小车, 两辆智能小车需要遵守比赛的一系列规则,不脱离跑道跑完全程,比赛成绩按智能小车行走一圈的时间计算，行走时间越短名次越高。 本设计详述国内外机器人研究现状的基础上对的进行了设计ATmega16为主控芯片,运用“直道加速、弯道减速”的控制思想，利用红外传感器来进行路径的检测，将检测数据传回单片机进行处理,单片机根据检测数据来产生PWM波，来分别控制舵机的转向和电机转速，实时控制小车的运行状态,同时舵机和电机的动作会影响小车的行进方向，进而影响红外传感器的检测，组成一个闭环系统，依靠程序进行自我调节。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。本设计分模块进行设计，实现了小车的硬件设计、软件设计、组装和检测调试，实现了两辆小车同步的功能，可以满足设计要求。 关键词：智能小车； 自主循迹； PWM波；同步 ABSTRACR In this paper,taking Shandong province college students robot contest as the background, we design and produce two cars to elliptical orbit around automatic recognition of black non-slip adhesive tape and run along the synchronous car, two intelligent car need to comply with a series of rules, not run away from the runway to complete the race, race results calculated by the robot walking around the time, the shorter the time, the higher rank of walking. Based on the current situation of domestic and foreign robot details, hardware and software of robot is designed, installated and debugged, and the successful implementation of the design requirements. Car tracking of this design is using ATmega16 as main control chip, using the control idea straight, curve acceleration deceleration, and using the infrared sensor to check the path, the detection data is passed to the SCM for processing, SCM according to the detection data generate PWM wave to control the turning of steering gear and the speed of the motor, controlling the state of the car, at the same time, steering gear and motor actions can affect the direction of the car, and then influence the detection of infrared sensors, forming a closed-loop system, rely on the procedure of self regulation. Because of the design of the intelligent automatic tracking car, the whole process stay without any manual intervention, such as keyboard 、remote control and manual operation device. The design is sub-module designed, achieving the design of hardware, the software design of car