基于单片机的智能循迹小车设计  

Design of the intelligent trace-keeping car based on single chip microcomputer

作　　者：张岩[1] 裴晓敏[1] 付韶彬 

机构地区：[1]辽宁石油化工大学信息与控制工程学院,抚顺113001

出　　处：《国外电子测量技术》2014年第3期51-54,共4页Foreign Electronic Measurement Technology

基　　金：2012国家级大学生创业训练(201210148028)项目

摘　　要：设计了一款速度快、运行稳定、循迹精度高的智能小车,首先利用5路光电对管采集路面信息;3路光电开关采集前方障碍物信息;然后,将获得的信息转化为能够被单片机识别的数字信号;最后,采用单片机为主控制芯片,根据路面信息,对直流电机进行脉宽调速,控制小车的行进、转弯和停止。由于5路光电对管分布在小车底盘的不同角度,提高了小车对不同弯度路径的判断能力,根据路径弯度调整PWM波形的占空比以达到控制小车转弯速度的目的,使小车准确沿既定路线自动行驶。实验证明采用该方法设计的智能小车在保证运行速度的前提下,可以提高循迹精度、减少漂移次数。An intelligent trace-keeping car has been designed, which is fast, stable, more accuracy at tracing. Firstly, road informa- tion is collected by five photoelectric pair tubes, and obstacle information is collected by three photoelectric switching. Then, convert the collected information into digital signals which can be identified by single chip; Finally, single chip microcomputer works as the control center, according to the information of the road, controls DC motor through PWM （pulse width modulation） and achieve functions of car going forward, backward, turning left, turning right and stop, and keep the car moving on trace, automatically. Be- cause photoelectric pair tubes distributed at different angles of the car chassis, it can improves judging ability for road with different angles. Adjusting duty ratio can control speed for car at turning according to path＇s curvature. The results of experiment shows that the intelligent ear designed by this method can keep running speed, mean while, tracing accuracy is somewhat increased, drift time decreased significantly.

关 键 词：单片机 循迹 脉宽调速 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TN29[自动化与计算机技术—控制科学与工程]