智能小車循跡系統(tǒng)設(shè)計(jì)------光電循跡

摘 要

【從介紹了一種自動(dòng)尋跡智能車的設(shè)計(jì),研究了采用紅外反射式光電傳感器作為路徑采集模塊實(shí)現(xiàn)自動(dòng)尋跡的軟硬件設(shè)計(jì)方法。系統(tǒng)采用Freescale 16 位單片機(jī)MC9S12SX128 為核心控制器,利用12個(gè)紅外光電傳感器構(gòu)成的光電傳感器陣列采集路面信息,單片機(jī)獲得傳感器采集的路面信息和車速信息,經(jīng)過分析后控制智能車的舵機(jī)轉(zhuǎn)向,同時(shí)對(duì)直流電機(jī)進(jìn)行調(diào)速,從而實(shí)現(xiàn)智能車沿給定的黑線快速平穩(wěn)地行駛。介紹了光電傳感器的尋跡原理,討論了光電傳感器排列方法、布局、間隔等對(duì)尋跡結(jié)果的影響。

關(guān)鍵詞：光電傳感器，智能車，尋跡，路徑識(shí)別

Smart Car Tracking System ------ Optical Tracking

ABSTRACT

A design of autonomous tracing system in intelligent vehicle is introduced. Thesoftware and hardware design method which realizes the autonomous tracing using the infrared reflective photoelectric sensors as the path recognition module is researched.Thesystem employs Freescale HCS series 16 bit single2chip microcomputer MC9S12XS128 as its main controller and anarray of photoelectric sensors for recognizing the path information. Single2chip Microcomputer energizes the servor to steer and control the speed of the DC electric motor according to theanalysis of the path and speed information from sensors.Consequently ,this intelligent vehiclecan track the black2guide2line automatically and move forward following the line quickly andsmoothly. The autonomous tracing principle of photoelectric sensor is presented. The effects of sensors array , overall arrangment , and space on theautonomous trace are discussed.

KEY WORDS: photoelectric senso， intelligent vehicle ，autonomous tracing，
path recognition
 
目　錄

前　言 1
第1章 設(shè)計(jì)思想 4
1.1 目前常用解決方案 4
1.1.1檢測(cè)方案 4
1.1.2 傳感器的布局 4
第2章 系統(tǒng)的硬件及設(shè)計(jì) 7
2.1硬件電路設(shè)計(jì)方案 7
2.1.1硬件電路設(shè)計(jì)方案 7
2.1.2 前瞻模塊 8
2.1.3 起始線檢測(cè)模塊 9
2.1.4電源模塊 12
2.1.5電機(jī)驅(qū)動(dòng)模塊 12
第3章系統(tǒng)軟件設(shè)計(jì) 13
3.1 路徑信息的采集 13
3.1.1 提取信息的原理 13
3.1.2 路徑信息提取方案 13
3.2路徑信息的抗干擾處理 14
3.2.1信息的抗干擾處理 14
3.3 protel的介紹 15
3.3.1原理圖的建立 15
第4章 軟件調(diào)試 16
4.1　Proteus環(huán)境 16
4.1.1　Proteus簡介 16
4.1.2 Proteus軟件特點(diǎn) 16
4.2 操作簡介 17
4.2.1　Proteus操作簡介 17
4.2.1　ISIS 智能原理圖輸入流程 17
結(jié)　論 20
謝 辭 21
參考文獻(xiàn) 22
附　錄 23