目 錄

摘要..........................................................................3
ABSTRACT .....................................................................3
1. 緒論.......................................................................4
1.1迷宮小車(chē)的作用與意義...................................................4
1.2迷宮小車(chē)的發(fā)展現(xiàn)狀.....................................................4
2. 設(shè)計(jì)任務(wù)及要求............................................................4
2.1 設(shè)計(jì)任務(wù)..........................................................4
2.2 技術(shù)基本要求......................................................5
3. 系統(tǒng)方案的論證.............................................................5
3.1單片機(jī)控制模塊.........................................................5
3.2電機(jī)控制模塊...........................................................5
3.3光電監(jiān)測(cè)模塊...........................................................6
3.4顯示模塊...............................................................6
4. 總體設(shè)計(jì)方案 ..............................................................7
4.1系統(tǒng)模塊...............................................................7
4.2系統(tǒng)方案 ..............................................................7
5. 硬件電路設(shè)計(jì)...............................................................7
5.1電動(dòng)機(jī)驅(qū)動(dòng)模塊的電路設(shè)計(jì)與實(shí)現(xiàn).........................................7
5.2單片機(jī)控制模塊的電路設(shè)計(jì)與實(shí)現(xiàn).........................................8
6. 系統(tǒng)的軟件設(shè)計(jì).............................................................8
6.1程序流程框圖..........................................................10
6.2光電檢測(cè)程序..........................................................10
6.3電機(jī)轉(zhuǎn)動(dòng)程序..........................................................12
6.3.1電機(jī)前進(jìn)程序....................................................12
6.3.2電機(jī)后退程序....................................................12
6.3.3電機(jī)左轉(zhuǎn)程序....................................................12
6.3.4電機(jī)右轉(zhuǎn)程序....................................................12
6.3.5電機(jī)停止程序....................................................12
6.4顯示程序..............................................................13
7. 系統(tǒng)測(cè)試與分析............................................................13
7.1測(cè)試工具..............................................................13
7.2測(cè)試結(jié)果..............................................................14
參考文獻(xiàn).....................................................................15
附錄.........................................................................16
致謝.........................................................................22

迷宮小車(chē)系統(tǒng)設(shè)計(jì)

摘要：設(shè)計(jì)了一個(gè)基于單片機(jī)控制的迷宮小車(chē)系統(tǒng)。該系統(tǒng)采用AT89S52單片機(jī)為主控制核心，實(shí)現(xiàn)信號(hào)采集，路線判斷，行駛總時(shí)間的顯示，以控制小車(chē)的運(yùn)動(dòng)；利用光電開(kāi)關(guān)感應(yīng)墻體的存在，結(jié)合L298N芯片驅(qū)動(dòng)減速電機(jī)運(yùn)轉(zhuǎn)，從而實(shí)現(xiàn)小車(chē)走迷宮。
該系統(tǒng)有單片機(jī)控制模塊和光電監(jiān)測(cè)模塊兩個(gè)主要功能模塊。單片機(jī)控制模塊主要利用單片機(jī)接受到光電開(kāi)關(guān)輸出的高低電平后再輸出信號(hào)去控制小車(chē)的運(yùn)動(dòng)；光電監(jiān)測(cè)模塊則利用光電傳感器對(duì)墻體的感應(yīng)，然后輸出相應(yīng)的高低電平并傳送給單片機(jī)。這樣就可以實(shí)時(shí)監(jiān)測(cè)小車(chē)在迷宮中所處的位置，并進(jìn)行相應(yīng)的運(yùn)動(dòng)，最終經(jīng)判斷讓小車(chē)停止在迷宮出口指定的位置上。
關(guān)鍵詞：?jiǎn)纹瑱C(jī)；電機(jī)驅(qū)動(dòng)；光電開(kāi)關(guān)

The System Design of Maze Trolley System

Yi Yinxue
School of Physics and Electronic Information, Grade 2006, Instructor:LaiChunhong

Abstract：Microcontroller AT89S52 is used to this maze trolley system to achieve signal acquisition ,line judge and the display of the driving total time.The principle of this system is that use photoelectric sensors which senses the presence of wall combined with the L298N chip to drive the DC Motor，achieve the purpose of making the trolley move and locate, Then achieve the goal that trolley move in the maze!
This system composed of modules such as SCM Control Module，Photoelectricity Monitoring Module,and so on.The SCM Control Module uses the SCM to output singnal after receiving the high-low output of photoelectric switches in order to control the move of trolley. Then the Photoelectricity Monitoring Module uses photoelectric sensors to judge the presence of wall ,then output corresponding high-low voltage to transmit to the microcontroller .This allows real-time monitoring of car position in the maze, and the corresponding movement,at last achieve the goal of making the trolley stop at the specified location.
Key word: microcontroller; motor drive; photoelectric switch

1. 緒論
1.1迷宮小車(chē)的作用與意義
進(jìn)入21世紀(jì),伴隨著電子、信息技術(shù)的應(yīng)用與迅速普及，人們對(duì)電子技術(shù)的要求越來(lái)越高。迷宮小車(chē)的出現(xiàn)對(duì)今后更好地用機(jī)器來(lái)代替人的工作墊定更扎實(shí)的基礎(chǔ)。經(jīng)過(guò)完善后的迷宮小車(chē)可以廣泛用于搶險(xiǎn)，救災(zāi)，有害氣體中毒的搶救等。隨著技術(shù)的發(fā)展智能迷宮機(jī)器人將替代小車(chē)工作，在危險(xiǎn)場(chǎng)合迷宮機(jī)器人起著不可替..