基于單片機(jī)的智能語(yǔ)音小車(chē)硬件設(shè)計(jì)
基于單片機(jī)的智能語(yǔ)音小車(chē)硬件設(shè)計(jì),基于,單片機(jī),智能,語(yǔ)音,小車(chē),硬件,設(shè)計(jì)
西北工業(yè)大學(xué)明德學(xué)院本科畢業(yè)設(shè)計(jì)論文
英 文 翻 譯
系 別 自動(dòng)化系
專(zhuān) 業(yè) 自動(dòng)化
班 級(jí) 191002
學(xué)生姓名 吳晗
學(xué) 號(hào) 103608
指導(dǎo)教師 李雪霞
報(bào)告日期 2014.6.10
原文
At present, the enterprise production technology constantly improving, the deepening environment to automation technology requirement, intelligent vehicle, and on the basis of intelligent vehicle developed products have become automated logistics transportation, flexible production organization system of key equipment. Many countries in the world are actively in research and development of intelligent vehicle design. Mobile robot is an important branch of robotics, appeared in the 1906 s. At the Stanford research institute (SRI) Nils Nilssen and Charles Rosen, from 1966 to 1966 years to develop the autonomous mobile robot named shakey, the purpose is to apply artificial intelligence technology in complex environment, complete robot autonomous reasoning, planning and control system. From then on, the mobile robot from scratch, increasing number of intelligent vehicle as an important branch of mobile robot has been more and more attention. Smart car, is a collection of environment perception, planning decisions, such as automatic driving function in an integrated system, it is concentrated, to use the computer, sensor, information, communication, navigation and dynamic control technology such as white, is a typical combination of new and high technology. Intelligent vehicle is also called the unmanned vehicle, is a collection of environment perception, planning, decision-making and multi-scale auxiliary driving, and other functions in a body's comprehensive system. It has the automatic identification of road barriers, automatic alarm, automatic braking, keep a safe distance, speed and automatic cruise control, and other functions. The main characteristics of intelligent vehicle is under complex road conditions, can automatically controlling and driving around obstacles and travel along a predetermined path (path). Intelligent vehicle on the basis of the original vehicle system with some intelligent technology equipment:
(1) computer processing system, the main completed for the pretreatment of the image captured from camera, enhancement, analysis, identification and so on work;
(2) the camera, used to get road image information;
(3) sensor devices, the speed sensor is used to get the current speed, obstacle sensors used to get the information such as the front, side and rear obstacles.
Intelligent vehicle technology according to the function can be divided into three layers, namely the intellisense/early warning system, driving system and fully automatic operating system. On a layer of technology is the foundation of the next layer of technology. The three levels of specific as follows:
(1) intelligent perception system, use a variety of sensors to obtain the vehicle itself, vehicle traffic environment and driver itself state information, the warning information when necessary. Mainly includes collision warning system and driver condition monitoring system. Collision warning system can give the front collision warning, blind spot warning, lane departure warning, lane changing/warning and warning, crossing, pedestrian detection and warning, rear collision warning, etc. The driver condition monitoring system Tons of warning system, pilot position including driver play possession state monitoring system, etc.
(2) the auxiliary driving system, use information to make decisions planning intellisense system and give the driver driving Suggestions or partially replace the driver control the vehicle operation. Mainly includes: cruise control, vehicle tracking system, parking system and precise motor system accurately.
(3) vehicle automated driving system, it is the highest level of intelligent vehicle technology, it is made up of all on-board computer automatically realize vehicle operation function. At present, the main development autopilot system at low speed when used in crowded traffic, close vehicle queue driving system, etc.
The smart car's main application areas include the following aspects: (1) detection of modern war military reconnaissance and environment puts forward higher requirements on military reconnaissance, paid attention to by all countries in the world for the construction of military reconnaissance, take various effective measures to prevent the enemy's raid, and wide application of advanced science and technology, continuously develop multi-purpose detection equipment and detection
Equipment, equipped with a camera in the car, safe and laser range finder, night vision devices and equipment such as satellite global positioning receiver, manipulation by cables, reconnaissance and surveillance enemy, intelligence gathering, and independent patrol target search tasks, such as to further expand the range of reconnaissance, improve the timeliness and accuracy of detection. (2) detecting danger and eliminate risk
On the battlefield or in the engineering, often will encounter all sorts of accidents. At this time, the intelligent detecting car will play a good role. The battlefield, you can use the intelligent vehicle cleaning roadside bombs, seek and destroy mines. Civil aspect, can detect chemical leakage, can undertake the subway fire, and after a strong earthquake occurred to the debris for buried personnel, etc. (3) the safety inspection damage assessment
In the field of engineering construction, to the highway automatic cruise, road quality testing and failure analysis; Of reservoir DAMS, coast revetment dike for quality and safety testing, rivers and DAMS. In the field of manufacturing, can be used in industrial pipeline mechanical damage, defects such as cracks, seeking for oil and gas pipeline leak and damage point searching and positioning. (4) the smart home
In the family, you can use smart cars to furniture, remote control of home appliances, room temperature control, and so on. The study of this kind of car, the strong support on the environmental detection technique for the future. 1.2 the purpose and significance of the thesis
At present, many universities and research institutions at home and abroad are engaged in research and development of human and financial resources for special 1.3.2 the meaning of this design
With the rapid development of automobile industry, the research about the car is also more and more attention by people. National competition and the province of electronic series intelligent car almost every time this aspect of the topic, the national universities are also attaches great importance to research of the subject. See its research significance. This design is put forward in this background, this topic is combined with scientific research projects and determine the design of the class. This design has adopted more advanced C51 as the control core, CHOMS technology on C51, low power consumption. Practical significance for the design, can be used in the archaeological, robotics, medical equipment and many other aspects. Especially in soccer robot research has the very good prospects for development; In archaeology is applied to detect ultrasonic sensors. So this design combined with practical, strong practical significance. Smart car research status at home and abroad:
Countries around the world in the field of intelligent mini conducted a lot of research, has been applied in various fields, in the field of detection and military use. In recent years, our country also carried out a lot of research work, in order to meet the needs of different USES. The world development, planet rover system has had many years of history. The United States and the Soviet union from the late 1960 s to the surface of the moon mission. The United States in 1966 ^ - 1968, to the moon successfully launched two unmanned cruise detector. In 1997, by the JPL (full name JetPropulsion
That NASA's jet propulsion Laboratory) develop the Sojourner rover landed on Mars. It verify the performance of small rovers, and completed a series of technical test. In January 2004, the United States of \"spirit\" and \"opportunity\" Mars rover to Mars again. The former Soviet union in 1959 ^ - 1976, a total of successfully launched two lunar rover.
MCU application field is more and more widely, both in life and production, the microcontroller is everywhere. ATMEL company AT89S51 can be widely applied to real time computer peripheral equipment, industrial control, instrumentation, communications equipment, household appliances and other fields. AT89S51 can be said to be the mainstream products in the field of single chip, its application is so widespread, so there is
Necessary to study and application of the single chip microcomputer, in order to meet the needs of the actual product development, and adapt to the trend of the social intelligence and automation.
By building the smart car system, cultivate the ability to design and realize the automatic control system. In the process of practice, familiar with the single chip processor as the core control chip, and design the car detection, drive and display peripheral circuit, such as intelligent control algorithm was adopted to realize the car intelligent tracking. Flexible application of mechanical and electrical or related discipline theory knowledge, contact the actual concrete realization method of the circuit design, to achieve the unification of the theory and practice. In the process, deepen their understanding and awareness of the control theory.
Under the condition of safety monitoring system. Including research using remote, no one way to implement, such as robots, remote monitoring, etc. The development of the wireless transmission makes the measurement is relatively simple and makes the speed of processing data quickly and even can achieve real-time processing \".
The smart car can be used as a typical representative of the robot. It can be divided into three parts: sensor detecting part, execute part and the CPU. Robot to realize automatic obstacle avoidance function, can also extend the function such as tracking, perception guide line and obstacles. Can realize automatic identification of car route, choosing the correct route, and detect obstacles automatically.
By building the smart car system, cultivate the ability to design and realize the automatic control system. In the process of practice, familiar with the single chip processor as the core control chip, and design the car detection, drive and display peripheral circuit, such as intelligent control algorithm was adopted to realize the car intelligent tracking. Flexible application of mechanical and electrical or related discipline theory knowledge, contact the actual concrete realization method of the circuit design, to achieve the unification of the theory and practice. In the process, deepen their understanding and awareness of the control theory.
(a) the function and significance of the smart car
Since the first industrial robot was born, the development of robots has been in machinery, electronics, metallurgy, transportation, aerospace, defense and other fields. In recent years, the robot's intelligence level enhances unceasingly, and quickly changing the way people live. People constantly explore, in the process of transformation, the nature, make machine can replace the human labor has been the dream of human beings. With the development of science and technology, robot system, for various techniques of visual image processing technology is developed, and based on the backward image understanding technology, machine vision need to through a lot of operation can only identify some simple structured environment goals. Visual sensor at the core of the device is a tube or CCD, the CCD has been able to achieve automatic focusing. But the price of CCD sensor, and the way of using volume is weak, therefore does not require a clear image only need a rough feeling are considered in use close to the sensor system is more and more types of sensor, including visual sensor automatic walking and become an important part of a drive. Typical applications for the intelligent navigation of autonomous visual a practical and effective method. Robot to realize automatic guiding function and obstacle avoidance function must be perception guide line and obstacles, rather give robots a visual perception guide line function. Obstacle avoidance control system is based on automatic guided vehicles (AVG - auto - guide vehicle) system, based on the smart car to realize automatic identification, judgment and automatically avoid obstacles, choosing the right path. Use sensors to route and obstacles and make a judgment and the corresponding action. The smart car can be used as a typical representative of the robot. It can be divided into three major components: sensors, CPU, executive part. Robot to realize automatic obstacle avoidance function, can also extend the function such as tracking, perception guide line and obstacles. Can realize automatic identification of car route, choosing the correct route, and detect obstacles automatically. Based on the above requirements, sensing detection part considering the car generally do not need to be perceived image, requires only a rough perception can, so I can give away expensive CCD sensor and consider using reflecting type of infrared sensor to act as a cheap and fine. Perform part of the smart car,
Is to act as by a dc motor, the main control the direction and speed of the car. Microcontroller driven dc motor generally have two options: first, there is no need to occupy single-chip computer resources, directly choose PWM function of MCU, so that we can achieve precise control of motor speed; Second, can by the software simulation output PWM modulation, taking single chip microcomputer resources, difficult to precise control of motor speed, but the single-chip computer models of choice. Considering the actual situation, this article choose the second solution. CPU usage STC89C52 singlechip, cooperate with software programming realization.
(2) the present situation of the smart car
Now the smart car development soon, from smart toys to other industries have substantial results. The basic tracking can be realized, obstacle avoidance, test strips, optical storage, the basic function such as from the cliff, the sections of the electronic design contest intelligent car again in to the voice control system development. Well-known freescale intelligence car is at the forefront. I this design is mainly to realize tracking obstacle avoidance of these two functions.
Second, the scheme design and demonstration
According to requirements, the following solutions: on the basis of the existing electric toys, equipped with photoelectric detector, realize the running status of electric vehicle speed, position, real time measurement, and will measure data transfer to the single chip microcomputer for processing, then the detection by the microcontroller based on various data to realize intelligent control of electric vehicle. This scheme can realize real-time motion control in the electric control flexible, reliable, high precision and can meet the requirements of the system.
翻譯
目前?，在企業(yè)生產(chǎn)技術(shù)不斷提高、對(duì)自動(dòng)化技術(shù)要求不斷加深的環(huán)境下，智能車(chē)輛以及在智能車(chē)輛基礎(chǔ)上開(kāi)發(fā)出來(lái)的產(chǎn)品已成為自動(dòng)化物流運(yùn)輸、柔性生產(chǎn)組織等系統(tǒng)的關(guān)鍵設(shè)備。世界上許多國(guó)家都在積極進(jìn)行智能車(chē)輛的研究和開(kāi)發(fā)設(shè)計(jì)。移動(dòng)機(jī)器人是機(jī)器人學(xué)中的一個(gè)重要分支，出現(xiàn)于20世紀(jì)06年代。當(dāng)時(shí)斯坦福研究院(SRI)的Nils?Nilssen和charles?Rosen等人，在1966年至1972年中研制出了取名shakey的自主式移動(dòng)機(jī)器人，目的是將人工智能技術(shù)應(yīng)用在復(fù)雜環(huán)境下，完成機(jī)器人系統(tǒng)的自主推理、規(guī)劃和控制。從此，移動(dòng)機(jī)器人從無(wú)到有，數(shù)量不斷增多，智能車(chē)輛作為移動(dòng)機(jī)器人的一個(gè)重要分支也得到越來(lái)越多的關(guān)注。??智能小車(chē)，是一個(gè)集環(huán)境感知、規(guī)劃決策，自動(dòng)行駛等功能于一體的綜合系統(tǒng)，它集中地運(yùn)用了計(jì)算機(jī)、傳感、信息、通信、導(dǎo)航及白動(dòng)控制等技術(shù)，是典型的高新技術(shù)綜合體。??智能車(chē)輛也叫無(wú)人車(chē)輛，是一個(gè)集環(huán)境感知、規(guī)劃決策和多等級(jí)輔助駕駛等功能于一體的綜合系統(tǒng)。它具有道路障礙自動(dòng)識(shí)別、自動(dòng)報(bào)警、自動(dòng)制動(dòng)、自動(dòng)保持安全距離、車(chē)速和巡航控制等功能。智能車(chē)輛的主要特點(diǎn)是在復(fù)雜的道路情況下，能自動(dòng)地操縱和駕駛車(chē)輛繞開(kāi)障礙物并沿著預(yù)定的道路(軌跡)行進(jìn)。智能車(chē)輛在原有車(chē)輛系統(tǒng)的基礎(chǔ)上增加了一些智能化技術(shù)設(shè)備:??
(1)計(jì)算機(jī)處理系統(tǒng)，主要完成對(duì)來(lái)自攝像機(jī)所獲取的圖像的預(yù)處理、增強(qiáng)、分析、識(shí)別等工作;??
(2)攝像機(jī)，用來(lái)獲得道路圖像信息;??
(3)傳感器設(shè)備，車(chē)速傳感器用來(lái)獲得當(dāng)前車(chē)速，障礙物傳感器用來(lái)獲得前方、側(cè)方、后方障礙物等信息。??
智能車(chē)輛技術(shù)按功能可分為三層，即智能感知/預(yù)警系統(tǒng)、車(chē)輛駕駛系統(tǒng)和全自動(dòng)操作系統(tǒng)團(tuán)。上一層技術(shù)是下一層技術(shù)的基礎(chǔ)。三個(gè)層次具體如下:??
(1)智能感知系統(tǒng)，利用各種傳感器來(lái)獲得車(chē)輛自身、車(chē)輛行駛的周?chē)h(huán)境及?駕駛員本身的狀態(tài)信息，必要時(shí)發(fā)出預(yù)警信息。主要包括碰撞預(yù)警系統(tǒng)和駕駛員狀態(tài)監(jiān)控系統(tǒng)。碰撞預(yù)警系統(tǒng)可以給出前方碰撞警告、盲點(diǎn)警告、車(chē)道偏離警告、換道/并道警告、十字路口警告、行人檢測(cè)與警告、后方碰撞警告等.駕駛員狀態(tài)監(jiān)控系統(tǒng)?包括駕駛員打噸警告系統(tǒng)、駕駛員位置占有狀態(tài)監(jiān)測(cè)系統(tǒng)等。??
(2)輔助駕駛系統(tǒng)，利用智能感知系統(tǒng)的信息進(jìn)行決策規(guī)劃，給駕駛員提出駕駛建議或部分地代替駕駛員進(jìn)行車(chē)輛控制操作。主要包括:巡航控制、車(chē)輛跟蹤系統(tǒng)、準(zhǔn)確泊車(chē)系統(tǒng)及精確機(jī)動(dòng)系統(tǒng)。??
(3)車(chē)輛自動(dòng)駕駛系統(tǒng)，這是智能車(chē)輛技術(shù)的最高層次，它由車(chē)載計(jì)算機(jī)全部自動(dòng)地實(shí)現(xiàn)車(chē)輛操作功能。目前，主要發(fā)展用于擁擠交通時(shí)低速自動(dòng)駕駛系統(tǒng)、近距離車(chē)輛排隊(duì)駕駛系統(tǒng)等。??
這種智能小車(chē)的主要應(yīng)用領(lǐng)域包括以下幾個(gè)方面:
?(1)軍事偵察與環(huán)境探測(cè)??現(xiàn)代戰(zhàn)爭(zhēng)對(duì)軍事偵察提出了更高的要求，世界各國(guó)普遍重視對(duì)軍事偵察的建設(shè)，采取各種有效措施預(yù)防敵方的突然襲擊，并廣泛應(yīng)用先進(jìn)科學(xué)技術(shù)，不斷研制多用途的偵察器材和探測(cè)
設(shè)備，在車(chē)上裝備攝像機(jī)、安全激光測(cè)距儀、夜視裝置和衛(wèi)星全球定位儀等設(shè)備，通過(guò)光纜操縱，完成偵察和監(jiān)視敵情、情報(bào)收集、目標(biāo)搜索和自主巡邏等任務(wù)，進(jìn)一步擴(kuò)大偵察的范圍，提高偵察的時(shí)效性和準(zhǔn)確性。??(2)探測(cè)危險(xiǎn)與排除險(xiǎn)情??
在戰(zhàn)場(chǎng)上或工程中，常常會(huì)遇到各種各樣的意外。這時(shí)，智能化探測(cè)小車(chē)就會(huì)發(fā)揮很好的作用。戰(zhàn)場(chǎng)上，可以使用智能車(chē)輛掃除路邊炸彈、尋找和銷(xiāo)毀地雷。民用方面，可以探測(cè)化學(xué)泄漏物質(zhì)，可以進(jìn)行地鐵滅火，以及在強(qiáng)烈地震發(fā)生后到廢墟中尋找被埋人員等。??
(3)安全檢測(cè)受損評(píng)估??
在工程建設(shè)領(lǐng)域，可對(duì)高速公路自動(dòng)巡跡，進(jìn)行道路質(zhì)量檢測(cè)和破壞分析檢測(cè);對(duì)水庫(kù)堤壩、海岸護(hù)岸堤、江河大壩進(jìn)行質(zhì)量和安全性檢測(cè)。在制造領(lǐng)域，可用于工業(yè)管道中機(jī)械損傷，裂紋等缺陷的探尋，對(duì)輸油和輸氣管線的泄漏和破損點(diǎn)的查找和定位等。?
?(4)智能家居??
在家庭中，可以用智能小車(chē)進(jìn)行家具、遠(yuǎn)程控制家中的家用電器，控制室溫等等。對(duì)這種小車(chē)的研究，將為未來(lái)環(huán)境探測(cè)術(shù)上的有力支持。?1.2課題研究的目的和意義??
目前，國(guó)內(nèi)外的許多大學(xué)及研究機(jī)構(gòu)都在積極投入人力、財(cái)力研制開(kāi)發(fā)針對(duì)特殊??
隨著汽車(chē)工業(yè)的迅速發(fā)展，關(guān)于汽車(chē)的研究也就越來(lái)越受人關(guān)注。全國(guó)電子大賽和省內(nèi)電子大賽幾乎每次都有智能小車(chē)這方面的題目，全國(guó)各高校也都很重視該題目的研究?？梢?jiàn)其研究意義很大。本設(shè)計(jì)就是在這樣的背景下提出的，本題目是結(jié)合科研項(xiàng)目而確定的設(shè)計(jì)類(lèi)課題。本設(shè)計(jì)就采用了比較先進(jìn)的C51為控制核心，?C51采用CHOMS工藝，功耗很低。該設(shè)計(jì)具有實(shí)際意義，可以應(yīng)用于考古、機(jī)器人、醫(yī)療器械等許多方面。尤其是在足球機(jī)器人研究方面具有很好的發(fā)展前景；在考古方面也應(yīng)用到了超聲波傳感器進(jìn)行檢測(cè)。所以本設(shè)計(jì)與實(shí)際相結(jié)合，現(xiàn)實(shí)意義很強(qiáng)。智能小車(chē)國(guó)內(nèi)外研究現(xiàn)狀:????????
世界各國(guó)在智能微型車(chē)領(lǐng)域進(jìn)行了很多研究，己經(jīng)應(yīng)用于各個(gè)領(lǐng)域，在探測(cè)和軍事領(lǐng)域使用特別多。近年來(lái)，我國(guó)也開(kāi)展了很多研究工作，以滿足不同用途的需要。?世界各國(guó)開(kāi)發(fā)、研制星球探測(cè)車(chē)系統(tǒng)己經(jīng)有了多年的歷史。美國(guó)和前蘇聯(lián)是從20世紀(jì)60年代末期開(kāi)始進(jìn)行月球表面探測(cè)任務(wù)的。美國(guó)曾在1966^-1968年間，向月球成功發(fā)射了兩次無(wú)人巡游探測(cè)器。1997年，由美國(guó)JPL(全稱(chēng)JetPropulsion??
Laboratory，美國(guó)太空總署噴氣推進(jìn)實(shí)驗(yàn)室)研制的Sojourner號(hào)探測(cè)車(chē)登上了火星。它驗(yàn)證了小型火星車(chē)的性能，并完成了一系列技術(shù)試驗(yàn)。2004年1月，美國(guó)的“勇氣號(hào)”和“機(jī)遇號(hào)”火星探測(cè)車(chē)再度登陸火星。前蘇聯(lián)在1959^-1976年間，總共成功發(fā)射了兩個(gè)月球探測(cè)車(chē)。??
單片機(jī)的應(yīng)用領(lǐng)域越來(lái)越廣泛，無(wú)論是在生活，生產(chǎn)上，單片機(jī)無(wú)處不在。ATMEL公司的AT89S51單片機(jī)可以廣泛應(yīng)用于計(jì)算機(jī)外部設(shè)備、工業(yè)實(shí)時(shí)控制、儀器儀表、通訊設(shè)備、家用電器等各個(gè)領(lǐng)域。AT89S51可以說(shuō)是單片機(jī)領(lǐng)域的主流產(chǎn)品?，其應(yīng)用如此廣泛，所以有
必要去學(xué)習(xí)和應(yīng)用該單片機(jī)，以滿足實(shí)際產(chǎn)品開(kāi)發(fā)的需要，也是適應(yīng)社會(huì)智能化、自動(dòng)化的趨勢(shì)。??
通過(guò)構(gòu)建智能小車(chē)系統(tǒng)，培養(yǎng)設(shè)計(jì)并實(shí)現(xiàn)自動(dòng)控制系統(tǒng)的能力。在實(shí)踐過(guò)程中，熟悉以單片機(jī)為核心控制芯片，設(shè)計(jì)小車(chē)的檢測(cè)、驅(qū)動(dòng)和顯示等外圍電路，采用智能控制算法實(shí)現(xiàn)小車(chē)的智能循跡。靈活應(yīng)用機(jī)電等相關(guān)學(xué)科的理論知識(shí)，聯(lián)系實(shí)際電路設(shè)計(jì)的具體實(shí)現(xiàn)方法，達(dá)到理論與實(shí)踐的統(tǒng)一。在此過(guò)程中，加深對(duì)控制理論的理解和認(rèn)識(shí)。???????
條件下的安全監(jiān)測(cè)系統(tǒng)。其中包括研究使用遠(yuǎn)程、無(wú)人的方法來(lái)進(jìn)行實(shí)現(xiàn)，如機(jī)器人、遠(yuǎn)程監(jiān)控等。無(wú)線傳輸?shù)陌l(fā)展使得測(cè)量變得相對(duì)簡(jiǎn)單而且使得處理數(shù)據(jù)的速度變得很快甚至可以達(dá)到實(shí)時(shí)處理”。??
該智能小車(chē)可以作為機(jī)器人的典型代表。它可以分為三大組成部分：傳感器檢測(cè)部分、執(zhí)行部分、CPU。機(jī)器人要實(shí)現(xiàn)自動(dòng)避障功能，還可以擴(kuò)展循跡等功能，感知導(dǎo)引線和障礙物。可以實(shí)現(xiàn)小車(chē)自動(dòng)識(shí)別路線，選擇正確的行進(jìn)路線，并檢測(cè)到障礙物自動(dòng)躲避。??
通過(guò)構(gòu)建智能小車(chē)系統(tǒng)，培養(yǎng)設(shè)計(jì)并實(shí)現(xiàn)自動(dòng)控制系統(tǒng)的能力。在實(shí)踐過(guò)程中，熟悉以單片機(jī)為核心控制芯片，設(shè)計(jì)小車(chē)的檢測(cè)、驅(qū)動(dòng)和顯示等外圍電路，采用智能控制算法實(shí)現(xiàn)小車(chē)的智能循跡。靈活應(yīng)用機(jī)電等相關(guān)學(xué)科的理論知識(shí)，聯(lián)系實(shí)際電路設(shè)計(jì)的具體實(shí)現(xiàn)方法，達(dá)到理論與實(shí)踐的統(tǒng)一。在此過(guò)程中，加深對(duì)控制理論的理解和認(rèn)識(shí)。??
（一）智能小車(chē)的作用和意義???
自第一臺(tái)工業(yè)機(jī)器人誕生以來(lái)，機(jī)器人的發(fā)展已經(jīng)遍及機(jī)械、電子、冶金、交通、宇航、國(guó)防等領(lǐng)域。近年來(lái)機(jī)器人的智能水平不斷提高，并且迅速地改變著人們的生活方式。人們?cè)诓粩嗵接憽⒏脑?、認(rèn)識(shí)自然的過(guò)程中，制造能替代人勞動(dòng)的機(jī)器一直是人類(lèi)的夢(mèng)想。??隨著科學(xué)技術(shù)的發(fā)展，機(jī)器人的感系統(tǒng)，對(duì)于視覺(jué)的各種技術(shù)而言圖像處理技術(shù)已相當(dāng)發(fā)達(dá)，而基于圖像的理解技術(shù)還很落后，機(jī)器視覺(jué)需要通過(guò)大量的運(yùn)算也只能識(shí)別一些結(jié)構(gòu)化環(huán)境簡(jiǎn)單的目標(biāo)。視覺(jué)傳感器的核心器件是攝像管或CCD，目前的CCD已能做到自動(dòng)聚焦。但CCD傳感器的價(jià)格、體積和使用方式上并不占優(yōu)勢(shì)，因此在不要求清晰圖像只需要粗略感覺(jué)的系統(tǒng)中考慮使用接近覺(jué)傳感器是覺(jué)傳感器種類(lèi)越來(lái)越多，其中視覺(jué)傳感器成為自動(dòng)行走和駕駛的重要部件。視覺(jué)的典型應(yīng)用領(lǐng)域?yàn)樽灾魇街悄軐?dǎo)航一種實(shí)用有效的方法。??機(jī)器人要實(shí)現(xiàn)自動(dòng)導(dǎo)引功能和避障功能就必須要感知導(dǎo)引線和障礙物，感知導(dǎo)引線相當(dāng)給機(jī)器人一個(gè)視覺(jué)功能。避障控制系統(tǒng)是基于自動(dòng)導(dǎo)引小車(chē)（AVG—auto-guide?vehicle）系統(tǒng)，基于它的智能小車(chē)實(shí)現(xiàn)自動(dòng)識(shí)別路線，判斷并自動(dòng)避開(kāi)障礙，選擇正確的行進(jìn)路線。使用傳感器感知路線和障礙并作出判斷和相應(yīng)的執(zhí)行動(dòng)作。??該智能小車(chē)可以作為機(jī)器人的典型代表。它可以分為三大組成部分：傳感器檢測(cè)部分、CPU、執(zhí)行部分。機(jī)器人要實(shí)現(xiàn)自動(dòng)避障功能，還可以擴(kuò)展循跡等功能，感知導(dǎo)引線和障礙物?？梢詫?shí)現(xiàn)小車(chē)自動(dòng)識(shí)別路線，選擇正確的行進(jìn)路線，并檢測(cè)到障礙物自動(dòng)躲避?；谏鲜鲆螅瑐鞲袡z測(cè)部分考慮到小車(chē)一般不需要感知清晰的圖像，只要求粗略感知即可，所以可以舍棄昂貴的CCD傳感器而考慮使用價(jià)廉物美的紅外反射式傳感器來(lái)充當(dāng)。智能小車(chē)的執(zhí)行部分，
是由直流電機(jī)來(lái)充當(dāng)?shù)?，主要控制小?chē)的行進(jìn)方向和速度。單片機(jī)驅(qū)動(dòng)直流電機(jī)一般有兩種方案：第一，勿需占用單片機(jī)資源，直接選擇有PWM功能的單片機(jī)，這樣可以實(shí)現(xiàn)精確調(diào)速；第二，可以由軟件模擬PWM輸出調(diào)制，需要占用單片機(jī)資源，難以精確調(diào)速，但單片機(jī)型號(hào)的選擇余地較大。考慮到實(shí)際情況，本文選擇第二種方案。CPU使用STC89C52單片機(jī)，配合軟件編程實(shí)現(xiàn)。??
（二）智能小車(chē)的現(xiàn)狀??
現(xiàn)智能小車(chē)發(fā)展很快，從智能玩具到其它各行業(yè)都有實(shí)質(zhì)成果。其基本可實(shí)現(xiàn)循跡、避障、檢測(cè)貼片、尋光入庫(kù)、避崖等基本功能，這幾節(jié)的電子設(shè)計(jì)大賽智能小車(chē)又在向聲控系統(tǒng)發(fā)展。比較出名的飛思卡爾智能小車(chē)更是走在前列。我此次的設(shè)計(jì)主要實(shí)現(xiàn)循跡避障這兩個(gè)功能。??
二、方案設(shè)計(jì)與論證??
根據(jù)要求，確定如下方案：在現(xiàn)有玩具電動(dòng)車(chē)的基礎(chǔ)上，加裝光電檢測(cè)器，實(shí)現(xiàn)對(duì)電動(dòng)車(chē)的速度、位置、運(yùn)行狀況的實(shí)時(shí)測(cè)量，并將測(cè)量數(shù)據(jù)傳送至單片機(jī)進(jìn)行處理，然后由單片機(jī)根據(jù)所檢測(cè)的各種數(shù)據(jù)實(shí)現(xiàn)對(duì)電動(dòng)車(chē)的智能控制。這種方案能實(shí)現(xiàn)對(duì)電動(dòng)車(chē)的運(yùn)動(dòng)狀態(tài)進(jìn)行實(shí)時(shí)控制，控制靈活、可靠，精度高，可滿足對(duì)系統(tǒng)的各項(xiàng)要求。
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