走迷宫的小车毕业设计.doc

自走迷宫的小车 摘要：本系统采用ST公司ARM7芯片STR710FZT6为核心进行设计，合理利用了该芯片上丰富的资源，实现小车智能蔽障、寻迹，信息无线传输等功能， 从而在远端PC上对获取的信息进行实时显示。本系统针对现实中出现的对于未知区域实时探测的需求，适当进行了简化，利用迷宫进行模拟。 其中，有一台智能小车，和一个PC端。小车在迷宫行进的过程中，会自动蔽障、选择路线，并通过无线模块将行进的信息实时传送给远端PC机 ，从而在PC端显示出小车在迷宫中行进的路线。为了达到在迷宫中行走的目的，我们要设计蔽障和迷宫算法，为了使小车的信息能够实时传输到远端PC机，就需要设计一套较为实用和可靠的无线通信协议。 关键词：蔽障，迷宫算法，无线通信协议 ? A Robot System Based On Wireless Communication Abstract：This system uses STR710FZT6 ARM7 chip as a core and its rich resources to achieve a smart car with functions of intelligent languishing impaired, motion, wireless transmission of information and others, PC on the remote will obtain the? information for real-time display. In view of the reality of the system for real-time detection of unknown regional demand, we make a proper conduct of a simplified, using simulation maze. Among them, they have a smart car, and a PC terminal. In the process, the smart car will automatically languishing barriers, choose route and the road line will be through wireless module and real-time transmission of information to distant PC which shows it. In order to achieve the purpose, we have to design? languishing impaired and maze algorithm, and also with the purpose of making Dolly have the ability of real-time transmission of information to distant PC, we should design a more practical and reliable wireless communication protocol. Keywords: languishing impaired, maze algorithm, wireless communication protocol. ? ? 目录 1? 引言... 4 2? 功能概述及方案设计... 6 2.1功能概述... 6 2.2 具体方案设计... 7 2.2.1 系统总体方案设计... 7 2.2.2小车控制模块设计... 7 2.2.2.1? 小车车体的设计... 7 2.2.2.2? 小车控制器模块... 8 2.2.2.3? 电源模块... 8 2.2.2.4? 稳压模块... 8 2.2.2.5? 电机驱动模块... 8 2.2.2.6? 小车控制模块设计... 8 2.2.2.7 ?车速检测模块设计... 8 2.2.3? 超声波模块设计... 9 2.2.4? 无线通信模块设计... 10 2.2.4.1? 硬件选型... 11 2.2.4.2? 通信协议介绍... 15 2.2.4.3? 利用ARM芯片上的资源... 18 3? 系统硬件设计... 19 3.1硬件设计概述... 19 3.2 电机驱动模块设计... 19 3.3 测速模块设计... 19 3.4 超声波模块设计... 20 3.5 无线通信模块... 21 3.6 电源模块硬件设计... 22 4? 系统软件设计... 24 4.1 下位机控制模块... 24 4.1.1 模块描述... 24 4.1.2 系统资源使用情况... 25 4.1