毕业论文参考模板1解读.doc

本科生毕业论文（设计） 题目： 基于K60单片机的CCD传感器智能车设计 1108421118 姓 名 包 然 指导教师 鲁世斌/沈杰 2015年05月06日 摘 要 本篇文章主要介绍了基于线性CCD的飞思卡尔智能小车控制系统的软件和硬件设计要点。智能车系统的简单工作原理是线性CCD传感器采集的光信号所反映的赛道信息经过MK60的相应的算法处理，主要先对数字的信号进行滤波以做到滤除杂波的效果，再通过黑线提取的算法，从而识别赛道。接着软件判断赛道信息是否正确，结合控制的算法控制舵机给出合理的舵机转角值，然后单片机再给出相符的PWM波占空比用来控制电机的转速。控制速度方面主要是采用一个500线增量式光电编码器来实时反馈脉冲，利用单片机的FTM功能采集速度的脉冲值。最后通过蓝牙和OLED显示屏反映即时信息，用以调试具体参数。经过场地的多次测试，小车的智能系统可以通过复杂的赛道，且运行的十分平稳。 关键词：滤波；线性CCD；MK60DN512ZVLL10；蓝牙 Abstract The paper mainly introduced the software and hardware design of Freescale intelligent car control system which based on linear CCD. The simple working principle of intelligent vehicle system is that the light of the linear CCD sensor signal reflects the track information throught MK60 corresponding algorithm processing which achieve the effect of filtering clutter by filt black line extraction algorithm. Then the software judges whether the track information is correct and in combination with control algorithm to control the steering Angle of steering gear is given reasonable value, and then MCU gives consistent wave PWM duty cycle which is used to control the speed of the machine. Control speed mainly uses a 500 line incremental photo electric encoder to real-time feedback pulse, and the FTM function of microcontroller pulse value of the acquisition speed. Finally reflecting the real-time information through Bluetooth and OLED display and debugging the concrete parameters. After field testing for many times, the intelligent system of the car can pass through the circuit of complexity and run very smoothly. KeyWords: wave filtering; linear CCD; MK60DN512ZVLL10; Bluetooth 目 录 摘 要 I Abstract II 目 录 III 1. 引言 1 1.1 概述 1 1.2 智能车辆的发展与现状 1 1.3 研究智能车辆的目的和意义 2 2. 方案设计 2 2.1 选定合适的系统总体方案 3 2.2 系统总体方案的设计 3 2.3 小结 4 3. 调整和优化机械结构 4 3.1 智能汽车车体机械建模 5 3.2 智能汽车传感器的安装 5 3.2.1 速度传感器的安装 5 3.2.2 安装线性CCD 6 3.2.3 车模红外对管传感器 7 3.3 重心高度调整 7 3.3.1 电路板的安装 7 3.3.2 电池安装 7 3.4 其他机械结构的调整 7 3