自动循迹小车.pdf免费

自动循迹控制小车 The Automatic Tracking Electromotion Vehicle 摘 要 本系统通过采集光电传感器和驻极体的数据来实现电动小车的自动循迹和 声控行驶。控制终端由C8051F020 单片机最小系统构成，外围电路包括直流电机 H 桥驱动模块、光电传感器循迹模块、光电对管测速模块、声控模块、LCD 显示 模块等。运行中，系统通过采集光电传感器的数据并进行相应的比较计算来控制 PWM 波的输出，进而实现电机转速的实时调节；通过计数光电对管的输出脉冲来 计算小车的行驶路程和实时速度；声控电路则将声音命令转换为相应的数字量并 作放大处理后输出到CPU 进而可以声控小车的启停；而显示模块则能在小车行驶 中实时显示其速度与路程。系统成本低，功耗低，小车调速平滑，过弯稳定，基 本满足设计要求。 关键词：C8051F020，自动循迹，光电传感器，声控，PWM 调速，H 桥驱动 Abstract This system is mainly to implement the Automatic Tracking and the Acoustic Control of the electromotion vehicle by collectting the signal detected from the photoelectric sensor and the electret.The Minimum system of C8051F020 SCM is the core control unit.The peripheral circuit consist of the H-bridge circuit module of continous current dynamo, the photoelectric sensor tracking module,the PT IR velocity measurement module, the Acoustic Control module,the LCD display module and so on.In the operation of the electromotion vehicle,the system process the data which collected from the photoelectric sensor and control the character of the PWM wave based on it’s arithmetic.And with this,the rotate speed of the continous current dynamo can be controled real time.We can get the venue and the real-time speed of the vehicle from the LCD,which are operated by the CPU based on the shift pulses export from the PT IR.The acoustic control unit can convert the voice command to digetal value and transfer it to the CPU after amplified.And this is the voice switch to control the vehicle’s start and stop.The display unit is the only visual method to know the character of the vehicle during the operation.The hole system is low cost and low power,and the process is smooth during speed regulation. Key words:C8051F020, Automatic Tracking, photoelectric