河南科技大学毕业设计智能车设计课题--精.doc

智能循迹小车的设计与实现 摘 要 TCRT5000 红外反射式光电传感器E18-D80NK 红外避障传感器DESIGN OF INTELLIGENT CAR ABSTRACT Intelligent car can operate automatically at a preset scene modes , designed primarily mechanical, electronic , detection technology and intelligent control in one, can be used in industrial control and other fields, is an important part of robotics research. The design of the toy car body , the hardware is STC12C5A60S2 master chip microcontroller , with DC motors , photoelectric sensors , ultrasonic sensors, wireless transceiver , LED digital control devices form , and through the corresponding software code control car forward , turning, acceleration, deceleration and other actions ; system selected as the master microcontroller using the internal PWM module STC adjust the speed of the car ; using TCRT5000 infrared reflective photoelectric sensor detects the signal , realize the car tracking function ; using SCM L298N driver module in conjunction with the detection signal to effective control . Between the two vehicles used mainly two E18-D80NK infrared obstacle avoidance sensors and wireless communication modules to achieve a precise nrRF24L01 completed two car started simultaneously and in the same direction and the line carriageway , overtaking zone to achieve the two vehicles to overtake leader alternately function by travel time LED display system and communications and energy saving targets. KEY WORDS: STC12C5A60S2, Intelligent Car,Prospects Mode,Ultrasonic Sensors,Wireless Transceiver,Overtaking Alternately,Energy Saving  目录 前 言 III 第一章 系统方案 1 §1.1 控制系统的选择 1 §1.2 调速模块的论证与选择 5 §1.3 电机驱动的论证与选择 5 §1.4 信号检测的论证与选择 5 §1.5 两车之间通讯的论证与选择 6 第二章 系统理论分析与计算 8 §2.1 两车同时启动分析 8 §2.2 信号检测的分析 8 §2.2.1 信号（黑线）的检测 8 §2.2.2 标志线的检测分析 8 §2.3 小车行走的分析 8 第三章 电路设计 10 §3.1 电路的设计 10 §3.1.1 系统总体框图 11 §3.1.2 L298N驱动模块子系统框图与电路原理图 12 §3.1.3 TCRT5000红外循迹子系统框图与电路原理图 13 §3.1.4 超声波传感器子系统框图 15 第四章 程序的设计 16 §4.1 开发环境keil uvision2介绍 16 §4.1.1 软件介绍 16 §4.1.2 系统功能 16 §4.2 程序设计 17 §4.2.1 程序设计思路: 17 §4