3260.自动寻迹跟踪智能小车系统的设计.docVIP

摘 要 自动寻迹是基于自动导引小车（AGV—auto-guided vehicle）机器人系统。用以实现小车自动识别路线，以及选择正确的路线。实验中采用与地面颜色有较大差别的线条作引导，使用反射式红外传感器感知导引线和判断障碍物。系统控制核心采用P89C51RA单片机,系统驱动采用控制方式为单向PWM的直流电机。该技术可以应用于无人驾驶机动车，无人工厂、仓库、服务机器人等领域。 总计，智能小车系统中用传感器去检测颜色，检测到的红外信号由P2口输入，再通过软件分析，通过P1口输出相应的电机驱动信号控制小车，实现相应的动作来达到越过障碍物的目的；还有两个红外线传感器用于寻轨迹，检测到的信号输入到P3口再通过软件完成相应的控制动作；另外一个传感器便是霍尔传感器，它检测到的脉冲送入P3口，并进行记数，通过程序计算出小车的里程，并由LED显示出来。 关键词 P89C51RA；红外传感器；霍尔传感器 Abstract The auto-searching for track is on the base of the AGV-auto-guided vehicle system. It makes the car discern the routs, So the car can choose the right routes. In the experiment we take use of the guiding wire whose color distinguishes from the background to guide the car and the inflected infrared sensor to discern the guiding wire and obstacles. The P89C51RA Single Chip Microcomputer is used for the control core in this system, and the one-way PWM direct current electromotor for the motive force or power system. This technology could serve to driverless mobile, robot factory, warehouse, service robot and etc. In this sysem, the car make examine the color with the sensors,they will send the signals to the I/O port 2 of the MicroController Unit,and the signals will be analyzed by the software,which generate the corresponding driving signals controlling the car,avoiding the roadblocks.The another two sensoes are used to find the orbit that we set,they will send the signals to the I/O port 3 of the chip,and the signals will be analyzed by the software,which create the corresponding signals controlling the car, along the rebit.The last sensor is Hall Sensor,it gives pulses to the counter of the single chip,in the last,by the program,the distance will be calculated and displayed by the LED. Keywords: P89C51RA;Infrared Sensor;Hall Sensor 目 录 摘 要 Ⅰ Abstract Ⅱ 第 1 章 绪论 1 1.1 单片机的简介和发展 1 1.2 轨迹跟踪系统研究意义 2 1.3 设计任务及要求 2 第2章 方案的分析与论证 3 2.1 主控系统分析与论证 3 2.2 机械系统分析与论证 5 2.3 电机驱动模块分析与论证 5 2.4 传感器系统分析与论证 6 2.4.1 反射式红外传感器 6 2.4.2 超声探测器