基于MCS51的寻线机器人的设计与制作.docVIP

摘 要 寻线机器人由路线检测和电机驱动两部分组成。其中路线检测部分本文根据红外光电传感器ST168利用红外线在不同颜色的物理表面具有不同的反射性质的特点，设计了传感器的检测与信号传输的接口电路，并完成了信号的处理程序，最终实现了整个机器对于线路的准确定位。 另外电机驱动部分本文根据L298N的步进电机驱动原理，本文设计了驱动模块的接口电路，并完成了对步进电机的驱动与转速的控制程序，最终实现了小车的转向控制要求。 本系统采用8位单片机AT89S52为核心控制器，利用5个红外光电传感器构成的光电传感器阵列采集路面信息，单片机获得传感器采集的路面信息，经过分析后控制步进电机的转动来控制智能车的走向，从而实现智能机器人沿给定的黑线快速平稳地行驶。 关键词： 光电传感器；智能；寻迹；路径识别 ABSTRACT The hunting robot is composed of the route examination and the motor-driven two parts. And route examination partial this article according to ST168 using infrared sensor electrcal in different colors of physical surface with different characteristics of the reflection properties, this paper designs a sensor detection and signal transmission, interface circuit and completed the signal processing program, and finally realize the whole machine for accurate positioning of the line. Moreover motor-driven partial this article according to L298N stepping motor drive principle, this paper designs the driver module, interface circuit and completed the stepping motor driver and speed control procedures, finally realizes the cars steering control requirements. The system employs 8bit single-chip microcomputer AT89S52 as main controller and an array of photoelectric sensors for recognizing the path information. Single-chip Microcomputer energizes the servo to steer and control the stepping motor according to the analysis of the path information from sensors. Consequently, this intelligent vehicle can track the black-guide-line automatically and move forward following the line quickly and smoothly. The autonomous tracing principle of photoelectric sensor is presented. The effects of sensors’ array, overall arrangement, and space on the autonomous trace are discussed. Key words : photoelectric sensor ; intelligent vehicle ; autonomous tracing ; path recognition 目 录 1. 系统总体设计方案 1 1.1 系统分析 1 1.2 系统设计结构图 1 1.3 传感器设计方案 2 2. 机械系统设计与实现 4 2.1 本体机械建模 4 2.2 本体结构的连接 5 2.3 本体中心的调整 5 2.4 前轮高度的调整 5 2.5 寻迹传感器布局 6 3. 硬件电路系统设计与实现 8 3.