智能救援车田滨、东萍、张爱瑜.doc

G甲1039 2008年‘ZLG杯’山东省大学生 电子设计竞赛 智能救援车 编 号： G甲1039 学 校： 山东大学 院 系： 控制科学与工程学院 设计者： 田 滨 张爱瑜 陈东萍 赛前辅导教师： 姚福安 万 鹏 日 期： 2008-9-12至2008-9-15 智能救援车 摘 要：本系统以AT89S52单片机为控制核心，实现救援车的智能控制，包括智能避障、自动寻迹、探测铁片、声光报警、液晶显示等功能。由无线收发模块启动救援车，救援车前轮采用万向轮实现转灵活转向，后轮由两个直流减速电机分别驱动以实现差动控制，通过光电开关检测各方向障碍物，以PWM方式调整两个电机的转速来控制救援车的行进方向和速度，使智能救援车能够在较短的时间内穿越无导引轨迹的建筑物，同时液晶显示模块记录显示救援车穿越建筑物所用的时间。离开建筑物，救援车通过寻迹模块沿引导轨迹行进，救援车前部的金属接近开关检测金属片，由电磁铁拾起金属片并在规定的地点将其放下，声光报警指示救援结束。 关键词：AT89S52；直流减速电机；光电开关；金属接近开关 Abstract: Based on the microcontroller AT89S52, the system can realize the intelligent control of the rescue vehicle. It is consist of the following functional modules, smart obstacle avoidance, automatic track finding, detecting metal plates, sound and light alarm, LCD display, etc. Started by the wireless transceiver module the rescue vehicle is driven by two DC geared motors to achieve differential control. At the same time, the rotary wheel installed in the front of the vehicle will help it turn flexibly. The photoelectric switches are used to detect the obstacles, so the direction and the speed of the rescue vehicle can be adjusted through PWM. The vehicle can cross the building in a short time which is displayed on the LCD panel. After leaving the building, it goes along the guide track. When the metal-detection switch detect the metal sheet, the electromagnet will pick it up and lay it down at certain location, meanwhile the sound and light alarm module acts to show the end of the rescue process. Key words: AT89S52; DC geared motor; photoelectric switches 目录 TOC \o 1-3 \h \z \u HYPERLINK \l _Toc209281660 1. 系统设计 PAGEREF _Toc209281660 \h 1 HYPERLINK \l _Toc209281661 1.1 系统总体方案比较与论证 PAGEREF _Toc209281661 \h 1 HYPERLINK \l _Toc209281662 1.2 单元模块设计 PAGEREF _Toc209281662 \h 3 HYPERLINK \l _Toc209281663 1.2.1 控制模块 PAGEREF _Toc209281663 \h 3 HYPERLINK \l _Toc209281664 1.2.2 避障模块 PAGEREF _Toc209281664 \h