基于单片机的智能循迹小车外文翻译

基于单片机的智能循迹小车外文翻译(2)35

摘要：本次设计的智能循迹小车是以单片机89c51；关键字：80c51单片机，c/c++/汇编语言编；一、引言；智能车辆是一个运用计算机、传感、信息、通信、导航；随着汽车工业的迅速发展，关于汽车的研究也就越来越；本次设计虽然只是一个演示模型，但是具有充分的科学；二、主题部分；智能车辆是集环境感知、规划决策、多等级辅助驾驶等；2.1理论的提出；科技的进步带动了产

12

摘要：本次设计的智能循迹小车是以单片机89c51为主控制器。运用反射式红外传感器来进行路径检测和速度监测模块。将检测数据传回单片机进行处理，同时，用单片机产生PWM 波来控制小车的行进速度，并实时控制小车的行进状态。另外，在小车上还扩展了LCD作为人机交互界面，以便于实时了解小车个监测传感器的状态机小车的实时数据，由于本次设计的是智能自动循迹小车，整个任务过程无需人工的任何干预，故而没有进行键盘及遥控等的人工操作设备。用多路传感器的实时监测和算法的紧密配合来保证小车的顺畅完成任务。

关键字：80c51单片机，c/c++/汇编语言编程，电子智能小车，光电检测器

一、引言

智能车辆是一个运用计算机、传感、信息、通信、导航、人工智能及自动控制等技术来实现环境感知、规划决策和自动行驶为一体的高新技术综合体。它在军事、民用和科学研究等方面已获得了应用，对解决道路交通安全提供了一种新的途径

随着汽车工业的迅速发展，关于汽车的研究也就越来越受人关注。全国电子大赛和省内电子大赛几乎每次都有智能小车这方面的题目，全国各高校也都很重视该题目的研究，许多国家已经把电子设计比赛作为创新教育的战略性手段。电子设计涉及到多个学科，机械电子、传感器技术、自动控制技术、人工智能控制、计算机与通信技术等等，是众多领域的高科技。电子设计技术，它是一个国家高科技实例的一个重要标准，可见其研究意义很大

本次设计虽然只是一个演示模型，但是具有充分的科学性和实用性。首先我们根据交通路面的复杂情况，按照适当的比例制作出一个路况模型，包括弯道、直道以及路面上设置的障碍物等。在弯、直道上，小车沿着预定轨道自由行使，当小车遇到障碍物时，脉冲调制的红外线传感器将检测到的信号发送给单片机，单片机根据程序发出相应的控制信号控制小车自动避开障碍物，进行倒车、前进、左转、右转等动作

二、主题部分

智能车辆是集环境感知、规划决策、多等级辅助驾驶等功能于一体的综合系统，是智能交通系统的一个重要组成部分。它在军事、民用、太空开发等领域有着广泛的应用前景。本次设计对智能小车的控制系统进行了研究，设计实现一个基于路径规划处理的智能小车控制系统

2.1 理论的提出

科技的进步带动了产品的智能化，单片机的应用更是加快了发展的步伐，它的应用范围日益广泛，已经远远的超出了计算机科学领域。小到玩具、信用卡，大到航天飞机、机器人，从实现数据采集、远程控制、模糊控制等智能系统带人类的日常生活，到处离不开单片机，此设计正是单片机的一个典型的应用。此设计通过实现了小车的无人驾驶，通过对路面的检测，由单片机来判断控制其小车的反应情况，使其变得智能化，实现自动的前进，转弯，停止功能，此系统还不断的完善后可以应用到道路检测，安全巡逻中，能满足社会的需求。

在设计上，使用连个传感器来检测路面的情况，传感器的心海比较微弱，采用一个放大器进行比较放大，并将其信号输入到控制器，在受控制端使用步进电机，因为步进电机是用电脉冲进行控制的，只要从控制器输出满足步进电机功过的固定控制字即可。此外步进电机的运作还要一个驱动电路，故电路中还要加入一个驱动电路，各个功能模块对电源电流的要求不同，对电源部分设置转换电路，从而满足各个部分的需要。经过元件的比较选择，设计出电路原理

图和电路板，并做好硬件的调试，系统往往是软件和硬件两者相结合的有机整体。软件上，使用51单片机的定时器中断来控制路面检测间隔和小车的运动及速度。由于带那路比较简单，就采用较为传统的汇编语言进行程序设计。对于程序设计的正确性，用较常用的keil c51仿真软件进行仿真验证，最后便是软硬件的综合调试，证明本设计方案的正确性和可行性。

2.2 电子智能小车的设计要求

①电动车能够能够按照行使路线跑完全程；②电动车能存储并显示检测到的金属片数目以及金属片至起跑线的距离；③要求电动车行使完全程后能够准确的显示电动车全程行使时间；④电动车在行使过程中不能与障碍物碰撞。

2.3计算摘要：

本次设计的智能循迹小车是以单片机89c51为主控制器。运用反射式红外传感器来进行路径检测和速度监测模块。将检测数据传回单片机进行处理，同时，用单片机产生PWM波来控制小车的行进速度，并实时控制小车的行进状态。另外，在小车上还扩展了LCD作为人机交互界面，以便于实时了解小车个监测传感器的状态机小车的实时数据，由于本次设计的是智能自动循迹小车，整个任务过程无需人工的任何干预，故而没有进行键盘及遥控等的人工操作设备。用多路传感器的实时监测和算法的紧密配合来保证小车的顺畅完成任务。

关键字：80c51单片机，c/c++/汇编语言编程，电子智能小车，光电检测器

三、引言

智能车辆是一个运用计算机、传感、信息、通信、导航、人工智能及自动控制等技术来实现环境感知、规划决策和自动行驶为一体的高新技术综合体。它在军事、民用和科学研究等方面已获得了应用，对解决道路交通安全提供了一种新的途径

随着汽车工业的迅速发展，关于汽车的研究也就越来越受人关注。全国电子大赛和省内电子大赛几乎每次都有智能小车这方面的题目，全国各高校也都很重视该题目的研究，许多国家已经把电子设计比赛作为创新教育的战略性手段。电子设计涉及到多个学科，机械电子、传感器技术、自动控制技术、人工智能控制、计算机与通信技术等等，是众多领域的高科技。电子设计技术，它是一个国家高科技实例的一个重要标准，可见其研究意义很大

本次设计虽然只是一个演示模型，但是具有充分的科学性和实用性。首先我们根据交通路面的复杂情况，按照适当的比例制作出一个路况模型，包括弯道、直道以及路面上设置的障碍物等。在弯、直道上，小车沿着预定轨道自由行使，当小车遇到障碍物时，脉冲调制的红外线传感器将检测到的信号发送给单片机，单片机根据程序发出相应的控制信号控制小车自动避开障碍物，进行倒车、前进、左转、右转等动作

四、主题部分

智能车辆是集环境感知、规划决策、多等级辅助驾驶等功能于一体的综合系统，是智能交通系统的一个重要组成部分。它在军事、民用、太空开发等领域有着广泛的应用前景。本次设计对智能小车的控制系统进行了研究，设计实现一个基于路径规划处理的智能小车控制系统

4.1 理论的提出

科技的进步带动了产品的智能化，单片机的应用更是加快了发展的步伐，它的应用范围日益广泛，已经远远的超出了计算机科学领域。小到玩具、信用卡，大到航天飞机、机器人，从实现数据采集、远程控制、模糊控制等智能系统带人类的日常生活，到处离不开单片机，此设计正是单片机的一个典型的应用。此设计通过实现了小车的无人驾驶，通过对路面的检测，由单片机来判断控制其小车的反应情况，使其变得智能化，实现自动的前进，转弯，停止功能，此系统还不断的完善后可以应用到道路检测，安全巡逻中，能满足社会的需求。

在设计上，使用连个传感器来检测路面的情况，传感器的心海比较微弱，采用一个放大器进行比较放大，并将其信号输入到控制器，在受控制端使用步进电机，因为步进电机是用电脉冲进行控制的，只要从控制器输出满足步进电机功过的固定控制字即可。此外步进电机的运作还要一个驱动电路，故电路中还要加入一个驱动电路，各个功能模块对电源电流的要求不同，

对电源部分设置转换电路，从而满足各个部分的需要。经过元件的比较选择，设计出电路原理图和电路板，并做好硬件的调试，系统往往是软件和硬件两者相结合的有机整体。软件上，使用51单片机的定时器中断来控制路面检测间隔和小车的运动及速度。由于带那路比较简单，就采用较为传统的汇编语言进行程序设计。对于程序设计的正确性，用较常用的keil c51仿真软件进行仿真验证，最后便是软硬件的综合调试，证明本设计方案的正确性和可行性。

4.2 电子智能小车的设计要求

①电动车能够能够按照行使路线跑完全程；②电动车能存储并显示检测到的金属片数目以及金属片至起跑线的距离；③要求电动车行使完全程后能够准确的显示电动车全程行使时

间；④电动车在行使过程中不能与障碍物碰撞。

4.3计算机网络教学网站的总体构思

采用89c51单片机作为小车的控制单元，在小车的前端就八路从外传感器，作为小车进入车库过程中黑带的检测元件，在小车的后端在接上八路红外线传感器作为小车退出车库时的黑带检测元件，采用LJ18A3-8-Z/BX电感式接近开关作为车库内铁片的检测元件，单片机接受到传感器检测到的信号后通过相应的程序控制小车的前进，后退，转弯，从而使小车的性能指标满足本次设计的要求。

4.3.1 设计思路

智能小车是智能车辆研究的一个分支。它以车轮作为移动机构、能够实现自主行驶，所以我们称之为智能小车。智能小车具有机器人的基本特征——易于编程。它与遥控小车的不同之处在于，后者需要操作员来控制其转向、启停和进退，比较先进的遥控车还能控制其速度(常见的模型小车都属于这类遥控车)；而智能小车则可以通过计算机编程来实现其对小车启停、行驶方向以及速度的控制，无需人工干预。操作员可以通过修改智能小车的计算机程序或者某些数据来改变它的行驶方式。这种可以通过编程来控制、改变小车行驶方式的特性是智能小车的最大特点。智能小车控制系统的研究目的是使得小车行驶具有更高自主性。如果任意给定小车一条无障路径，通过该系统，小车就可以得到系统对路径图形处理后的数据(位移与转角)，并能根据位移和转角信息按照预定路径行进

4.3.2 控制系统结构分析

根据上述设计思路，可将智能小车控制系统的结构分为两层

1、规划层

上位机控制系统，规划层提供的是小车行驶的全局信息，包括路径处理模块和通信模块。它要解决的基本问题有

(1) 使用什么工具处理小车的路径图形；

(2) 建立小车的运动模型，计算出小车行驶所需的数据；

(3) 建立小车的运动模型，计算出小车行驶所需的数据；

2、行为层

下位机控制系统，行为层是智能小车控制系统的底层结构，实现对小车行驶的实时控制，它包括通信模块、电机控制模块和数据采集模块。它要解决的基本问题有：

(1) 接收、处理上位机发送的数据信息；

(2) 设计步进电机的控制系统；

(3) 采集小车的位移和转角信息，定位小车姿态，分析系统控制误差；

4.3.3 总设计方案

由系统结构得到智能小车控制系统的命令流程：

（1）启动AutoCAD，绘制或选择一条封闭曲线为小车路径，拾取小车的起始路径图元

（2）对选取的路径图形进行处理，使小车转弯处存在的棱角在最小转弯半径范围外以圆弧方式过渡

（3）生成新的路径图形，模拟小车的运动过程；

（4）计算出小车行驶所需要的位移和车轮转角，并将此数据发送给下位机

（5）下位机接收数据后，通过软件编程控制小车车轮的转速和转角，使其按照预定路径前进一个完整的控制系统要求系统的各功能模块联系紧密，根据上述命令流程和它们之间的关系，可得系统的总设计方案。

4.4设计主要有以下几个模块组成

1、信息采集模块：信息采集部分是由光电检测和运算放大模块组成，光电检测有寻迹检测和测速检测两个部分。将检测到的信号经过预算放大模块lm324放大整形后送给单片机处理，其核心部分是几个光电传感器。

2、控制处理模块：控制处理模块是一一片stc89c52单片机为核心，单片机将从采集到的信息进行判断后，按照预定的算法处理，把处理的结果送交电机驱动和液晶显示模块，使之做出相应的动作。

3、执行模块：执行模块是由液晶显示、电机驱动及电机、蜂鸣器三部分组成。液晶主要是将单片机处理的结果进行实时显示，方便及时用户了解系统当前的状态，电机驱动根据单片机的指令对两个电机进行动作，使之能够根据需要作出相应的加速、减速、转弯、停车等的动作，以达到预期的目的。蜂鸣器主要是根据要求在特定的位置作出出响应来报告位置。

五﹑参考文献

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[25]https://www.360docs.net/doc/564064429.html,/

Abstract: the design of intelligent tracking the car based on single chip microcomputer 89 c51 controller. Use reflective infrared sensor to test path and speed monitoring module. Will detect data back to the single chip microcomputer for processing, at the same time, using single-chip microcomputer to produce PWM wave to control the speed of the car, and real-time control of the car's moving state. In addition, also expanded the LCD on the car as the human-computer interaction interface, in order to understand the car a real-time monitoring of the real-time data of sensor state machine car, due to the design of intelligent automatic tracking the car, the whole process of task without any manual intervention, so no keyboard and remote control and manual operation of the equipment. With multiple sensors for real-time monitoring and algorithm closely to ensure that the car of complete the task smoothly.

Key words: 80 c51, c/c + +, assembly language programming, electronic smart car photoelectric detector

The introduction

Intelligent vehicle is a use of computer, sensor, information, communication, navigation, artificial intelligence and automatic control technology to realize the environment awareness, planning decision and automatic drive of high and new technology. It in aspects such as military, civil and scientific research has received application, to solve the traffic safety provides a new way

With the rapid development of automobile industry, the research about the car is becoming more and more attention by people. Contest of national competition and the province of electronic intelligent car almost every time this aspect of the topic, the national various universities are also attaches great importance to research on the topic, many countries have put the electronic design competition as a strategic means of innovative education. Electronic design involving multiple disciplines, machinery and electronics, sensor technology, automatic control technology, artificial intelligent control, computer and communication technology, etc., is a high-tech in the field of many. Electronic design technology, it is a national high-tech instance is one of the most important standard, its research significance is great

The design though just a demo model, but is full of scientific and practical. First we according to the complex situation of road traffic, in accordance with the appropriate author to make a road model, including bend, straight and pavement set obstacles, etc. On curved and straight, the car along the orbit free exercise, when the small car meet obstacles, pulse modulation infrared sensors to detect the signal sent to the microcontroller, a corresponding control signal according to the program MCU control cars automatically avoid obstacles, to carry on the back, forward, turn left, turn right

Subject parts

Intelligent vehicle is a concentration of environment awareness, planning decision, multi-scale auxiliary driving, and other functions in an integrated system, is an important part of intelligent transportation system. In military, civilian, space exploration and other fields has a broad

application prospect. The design of smart car control system are studied, based on path planning is a process of the intelligent car control system

2.1 theory is put forward

The progress of science and technology of intelligent led products, but also accelerated the pace of development, MCU application scope of its application is increasingly wide, has gone far beyond the field of computer science. Small to toys, credit CARDS, big to the space shuttle, robots, from data acquisition, remote control and fuzzy control, intelligent systems with the human daily life, everywhere is dependent on the single chip microcomputer, this design is a typical application of single chip microcomputer. This design by implementing the driverless car, on the tests, by the reaction of the single chip microcomputer to control the car, make its become intelligent, automatic forward, turn and stop function, after continuing the perfection of this system also can be applied to road testing, security patrol, can meet the needs of society.

In design, the use of the sensors to detect road surface condition, sensor central sea are faint and adopts a comparing amplifier amplification, and the signal input to the controller, the controlled end using stepper motor, because of the step motor is controlled electrical pulse, as long as the output from the controller to satisfy stepper motor merits of fixed control word. In operation of stepping motor and a driving circuit, it also to join a drive circuit in the circuit, each function module is different to the requirement of power supply current, the power supply part set up conversion circuit, so as to meet the needs of the various parts. After comparison choice element, design the circuit principle diagram and the circuit board, and do the debugging of hardware, system software and hardware is often the combination of organic whole. Software, on the use of the 51 single-chip timer interrupt to control pavement test interval and the car movement and speed. Due to take that road is simple, it is using more traditional assembly language for programming. For the correctness of the program design, using a commonly used keil c51 simulation software simulation validation, the last is integrated debugging of software and hardware, and prove the correctness and feasibility of the design scheme.

2.2 electronic intelligent car design requirements

基于单片机的智能循迹小车外文翻译(2)35-2

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12

(1) electric vehicles can be able to according to the course to run all the way; (2) electric vehicles can store and display the number of detected metal and sheet metal to the starting line in the distance; (3) are accurately electric cars after exercising all the way to the display of the electric vehicle the entire exercise time; (4) electric cars can't collisions with obstacles in the process of

exercise.

2.3 the general conception of computer network teaching website

Using 89 c51 as the car's control unit, sensor eight-way from outside, in the front of the car, as a black belt in the process of the car into the garage detecting element, at the rear end of the car when connected to eight-channel infrared sensors as the car pulled out of the garage of a black belt in detecting element, the LJ18A3-8 - Z/BX inductive proximity switch as garage iron detecting element, the microcontroller after receiving sensor detects the signal through the corresponding procedures to control the car forward, backward, turn, so that the car's performance indicators meet the requirements of the design.

2.3.1 design ideas

Intelligent car is a branch of intelligent vehicle research. It with wheels as mobile mechanism, to realize autonomous driving, so we call it the smart car. Smart car has the basic features of robot, easy to programming. It with remote control car the difference is that the latter requires the operator to control the steering, rev. Stop, and in a more advanced car remote control can control the speed (common model of the car belongs to this type of remote control car); While the smart car can be done by computer programming for the car stop, driving direction and speed control, without human intervention. Operator the smart car can be changed through a computer program or driving some of the data to change its type. This can be controlled through programming, change the way of car driving feature is the biggest characteristic of the smart car. Smart car control system of the research purpose is to make the car drive has higher autonomy. If any given car a path, through the system, the car can get system of path after image processing of data moving and Angle (a), and can travel scheduled path, according to the displacement and Angle information

2.3.2 control system structure analysis

According to the above design idea, the structure of the intelligent car control system can be divided into two layers The planning layer

PC control system, the planning layer provides global information was driving the car, including path processing module and communication module. To solve the basic problem with it

Use what tools to deal with the car path graph;

Car movement model is established to calculate the data required for car driving;

Car movement model is established to calculate the data required for car driving;

Behavior layer

Lower machine control system, the behavior is the underlying structure of the intelligent car control system, realize the real-time control of the car driving, it includes communication module, motor control module and data acquisition module. It is to solve the basic problems are:

Receiving, processing, PC sends data information;

Design of stepping motor control system;

Car displacement and Angle of the information collected, positioning, analysis of error control system;

2.3.3 the total design scheme

By the system structure has the smart car control system of the process:

Start AutoCAD drawing, or choose a closed curve as the car path, pick up the car starting $path graph

To choose the path of the graphics processing, make the car turning of edges on the minimum turning radius in circular arc transition

Generate a new path graphics, simulation of car movement process;

Calculate the displacement and driving car need wheel Angle, and then sends the data to the machine

Under the machine after receiving data, through software programming to control the car wheel rotation speed and Angle, so that it is in accordance with the scheduled path forward

A complete control system requirements of the system is closely linked to each function module, according to the order process and the relationship between them, the total design scheme of the system is available.

2.4 design of basically has the following several modules

Information collection modules: information collection part is composed of photoelectric detection and operation amplifier module, photoelectric detection were tracing test and speed test of two parts. Will detect the signal after budget amplifier lm324 amplification module plastic for SCM processing, its core part is several photoelectric sensor.

Control processing module, processing module is a stc89c52 MCU as the core, the microcontroller will be collected from the information after the judgement, in accordance with the predetermined algorithm processing, the processing results to the motor driver and liquid crystal display module, makes the corresponding action.

Perform modules: module consists of liquid crystal display (LCD), motor drive and motor, buzzer of three parts. Are handled will microcontroller LCD real-time display of the result, convenient for users to understand the current state of the system in time, motor driver based on single chip microcomputer instruction for the two motor movements, can according to need to make the corresponding action such as acceleration, deceleration, turning and parking, in order to achieve the desired purpose. Buzzer is mainly according to the requirements in a specific location to make a response to the report. references

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