自動(dòng)尋跡跟蹤智能小車系統(tǒng)設(shè)計(jì)


摘 要

自動(dòng)尋跡是基于自動(dòng)導(dǎo)引小車（AGV—auto-guided vehicle）機(jī)器人系統(tǒng)。用以實(shí)現(xiàn)小車自動(dòng)識(shí)別路線，以及選擇正確的路線。實(shí)驗(yàn)中采用與地面顏色有較大差別的線條作引導(dǎo)，使用反射式紅外傳感器感知導(dǎo)引線和判斷障礙物。系統(tǒng)控制核心采用P89C51RA單片機(jī),系統(tǒng)驅(qū)動(dòng)采用控制方式為單向PWM的直流電機(jī)。該技術(shù)可以應(yīng)用于無人駕駛機(jī)動(dòng)車，無人工廠、倉庫、服務(wù)機(jī)器人等領(lǐng)域。 
總計(jì)，智能小車系統(tǒng)中用傳感器去檢測(cè)顏色，檢測(cè)到的紅外信號(hào)由P2口輸入，再通過軟件分析，通過P1口輸出相應(yīng)的電機(jī)驅(qū)動(dòng)信號(hào)控制小車，實(shí)現(xiàn)相應(yīng)的動(dòng)作來達(dá)到越過障礙物的目的；還有兩個(gè)紅外線傳感器用于尋軌跡，檢測(cè)到的信號(hào)輸入到P3口再通過軟件完成相應(yīng)的控制動(dòng)作；另外一個(gè)傳感器便是霍爾傳感器，它檢測(cè)到的脈沖送入P3口，并進(jìn)行記數(shù)，通過程序計(jì)算出小車的里程，并由LED顯示出來。
關(guān)鍵詞  P89C51RA；紅外傳感器；霍爾傳感器
                              

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   錄

摘    要 Ⅰ
Abstract Ⅱ
第 1 章 緒論  1
1.1 單片機(jī)的簡(jiǎn)介和發(fā)展 1
1.2 軌跡跟蹤系統(tǒng)研究意義 2
1.3 設(shè)計(jì)任務(wù)及要求 2
第2章  方案的分析與論證 3
2.1 主控系統(tǒng)分析與論證 3
2.2 機(jī)械系統(tǒng)分析與論證 5
2.3 電機(jī)驅(qū)動(dòng)模塊分析與論證 5
2.4 傳感器系統(tǒng)分析與論證 6
2.4.1 反射式紅外傳感器 6
2.4.2 超聲探測(cè)器的選型與工作方式 7
2.4.3  金屬探測(cè)器的選型 9
2.4.4 光電探測(cè)器的選型 9
2.5 電源電路的選型分析與論證 9
2.6 里程檢測(cè)模塊分析與論證 10
2.7顯示模塊分析與論證 11
第3章 硬件介紹與電路設(shè)計(jì) 13
3.1 P89C51簡(jiǎn)要說明..... ........................................13
   3.1.1 管腳功能..............................................14
3.2 循跡電路設(shè)計(jì)..................... ... ......................17
3.2.1 循跡原理 20
3.2.2 彎道情況及解決辦法 21
3.2.3 路徑識(shí)別單元 21
       3.2.4 調(diào)速控制 22
       3.2.5 具體連接和控制 23
3.3 顯示模塊的設(shè)計(jì) 23
3.3.1 LED的特性 23
3.3.2 LED顯示器結(jié)構(gòu) 23
3.3.3 LED顯示器分類 24
3.3.4 LED的應(yīng)用 25
3.3.5 具體顯示模塊 26
3.4小車驅(qū)動(dòng)設(shè)計(jì) 28
3.5 ISP 設(shè)計(jì) 29
3.6 車輪轉(zhuǎn)數(shù)及里程檢測(cè)模塊的設(shè)計(jì)與參數(shù)計(jì)算 32
第4章 系統(tǒng)軟件設(shè)計(jì) 33
4.1 軟件設(shè)計(jì)主流程圖 33
4.2 兩側(cè)檢測(cè)黑線程序框圖 34
結(jié)    論 35
致    謝 36
參考文獻(xiàn) 37
附    錄 38