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摘要I摘要本系统是基于STC89C52单片机的智能循迹小车的设计。硬件模块包括单片机最小系统模块、电机驱动模块、电源模块、光电传感器模块。软件部分包括主程序、控制程序、检测程序等。采用STC89C52单片机作为小车的控制核心，使用驱动芯片L298N构成双桥控制直流电机，采用TCRT5000红外反射式开关传感器作为小车的循迹模块来识别白色路面中央的黑色胶带引导线，采集信号并将信号转换为能被单片机识别的数字信号，其中软件系统Keil软件来编写所需的C语言程序，本设计的电路结构简单，容易实现，可靠性高。关键词：TCRT5000红外传感器，STC89C52单片机，L298N驱动芯片，智能循迹ABSTRACTIIABSTRACTThissystemisthedesignofintelligenttrackingcarbasedonSTC89C52mcu.Thehardwaremoduleincludesaminimumsystemmodule,amotordrivemodule,apowermoduleandaphotoelectricsensormodule.Thesoftwarepartincludesthemainprogram,controlprogram,testingprogramandsoon.UsingSTC89C52microcontrollerasthecontrolcoreofthecar,usingthedrivingchipL298NconstituteShuangqiaoDCmotorcontrolusingtcrt5000reflectiveinfraredsensorswitchasthecarofthetrackingmoduletoidentifythewhiteroadcentralblacktapeguideline,signalacquisitionandsignalconversionisidentifiedbythesingle-chipdigitalsignal.ThesystemsoftwarekeilsoftwaretocompiletheClanguageprogram,thedesignofthecircuitstructureissimple,easytoimplement,andthereliabilityishigh.Keywords：TCRT5000infraredsensor,STC89C52MCU,L298Ndriverchip,intelligenttracking目录III目录第1章引言····················································································11.1选题背景························································································11.2研究目标和意义···············································································11.3设计思路························································································2第2章系统的方案选取·····································································32.1系统主要组成部分············································································32.2单片机最小系统模块的选择································································32.3电源模块的选择···············································································42.4电机驱动模块的选择·········································································42.5光电传感器模块的选择······································································5第3章系统的硬件设计·····································································63.1硬件框架构图··················································································63.2单片机最小系统设计·········································································63.3电源模块设计··················································································73.4电机驱动模块设计············································································83.5光电传感器模块设计·········································································9第4章系统的软件设计···································································114.1Keil软件介绍················································································114.2系统整体流程图·············································································154.3电机驱动模块设计··········································································174.4光电传感器模块设计·······································································17第5章系统的硬软件调试································································195.1系统的硬件调试·············································································195.1.1单片机最小系统的调试··································································195.1.2电机驱动的调试···········································································195.1.3光电传感器的调试········································································205.2系统的软件调试·············································································20第6章系统测试结果与分析·····························································22目录IV6.1小车的实物系统测试结果·································································226.2系统测试结果的分析·······································································24第7章总结··················································································26参考文献························································································27致谢······························································································28附录······························································································29附录一：整体电路图············································································29附录二：实物图··················································································30附录三：程序代码···············································································31第1章引言1第1章引言1.1选题背景随着社会的不断发展，科学技术水平的不断提高，人们希望创造出一种来代替人来做一些非常危险，或者要求精度高等事情的工具，于是就诞生了机器人这门学科。世界上诞生第一台机器人诞生于1959年，至今已有50多年的历史，机器人技术也取得了飞速的发展和进步，现已发展成一门包含：机械、电子、计算机、自动控制、信号处理，传感器等多学科为一体的性尖端技术。循迹小车共历了三代技术创新变革：第一代循迹小车是可编程的示教再现型，没有装载任何传感器，只是采用简单的开关控制，通过编程来设置循迹小车的路径与运动参数，在工作过程中，不能根据环境的变化而改变自身的运动轨迹。支持离线编程的第二代循迹小车具有一定感知和适应环境的能力，这类循迹小车装有简单的传感器，可以感觉到自身的运动位置，速度等其他物理量，电路是一个闭环反馈的控制系统，能适应一定的外部环境变化。第三代循迹小车是智能的，目前在研究和发展阶段，以多种外部传感器构成感官系统，通过采集外部的环境信息，精确地描述外部环境的变化。智能循迹小车，能独立完成任务，有其自身的知识基础，多信息处理系统，在结构化或半结构化的工作环境中，根据环境变化做出决策，有一定的适应能力，自我学习能力和自我组织的能力。为了让循迹小车能独立工作，一方面应具有较高的智慧和更广泛的应用，研究各种新机传感器，另一方面，也掌握多个多类传感器信息融合的技术，这样循迹小车可以更准确，更全面的获得所处环境的信息【1】1.2研究目标和意义目前，国内外的许多大学及研究机构都在积极投入人力、财力研制开发针对特殊条