仓储搬运智能小车

2011届分类号：TP242单位代码：10452临沂大学学士学位毕业设计(论文)仓储搬运智能小车姓名李道源学号200707820201年级2007级专业电气工程及其自动化系（院）信息学院指导教师韩晓翠2011年4月24日SMARTCARSTORAGEANDHANDLINGbyLiDaoyuanApril2011诚信声明本人呈交给临沂师范学院的这篇毕业论文，除了所注参考文献和世所公认的文献外，全部是本人在指导老师指导下的设计成果。学生签名：日期：经检查该毕业设计（论文）为独立完成，不存在抄袭现象。指导老师签名：日期：仓储搬运智能小车摘要本设计是结合企业车间实际需要而确定的设计类课题。设计的智能小车能够自动启停止、往返运动、避障功能、记录行驶速度、快慢行驶。根据设计要求，确如下方案：在现有的玩具小车的基础上，采用AT89S51单片机作为控制核心，充分利用其内部丰富的资源，大大简化电路。使用L298N芯片控制电机转动，实现小车快慢行驶。利用光电开关控制小车自动避障，在避障时，利用电机转速差实现小车方向的变动。利用光电对管实现小车自动循迹，保证小车行驶在规定的线路上。在测量速度上采用霍尔元件，可以简化较好的实现功能。利用霍尔元件输出方波个数算出小车行驶的路程，利用LED显示速度和路程。关键词：AT89S51；循迹；避障；集成电路仓储搬运智能小车AbstractThedesignisabasedonenterpriseworkshopsactualneeds.Theintelligentdesigncanbeautomaticallyactivatedtostopthecar,toandfrommovement,obstacleavoidancefunction,recordspeed,thespeedoftraffic.Accordingtothedesignpurposeoftherequest,dothefollowingprograms:theexistingtoycarbasedontheuseAT89S51microcontrollerasthecontrol,fortakeadvantageofitsinternalresources,greatlysimplifiesthecircuit.usingtheL298NchipstoControlthemotorrotationforachievethespeedofdrivingthecar.Photoelectricswitchcontrolcarautomaticobstacleavoidance,whenthecarobstacleavoidance,usingthemotorspeeddifferentialtoachievechangesinthedirectionofthecar.Photoelectricautomatictrackingofthetubetoachievethecartoensurethecardrivingonthelinesprovided.measuringthespeedoftheHallelement,canbesimplifiedtoachievebetterfunction.Hallelementoutputsquarewavebythenumberofcarstravelingdistancecalculated,LEDdisplayspeedanddistance.Keywords:AT89S51;tracking;obstacleavoidance;IC仓储搬运智能小车目录前言.............................................................................................................................................1第1章方案设计及论证...............................................................................................................21.1控制器模块...........................................................................................................................21.2电机模块的选择与论证.......................................................................................................21.3避障模块的选择与论证.......................................................................................................31.4转速检测与行车距离测量模块的选择与论证...................................................................31.5显示电路...............................................................................................................................31.6循迹模块...............................................................................................................................41.7电源模块...............................................................................................................................41.8稳压模块...............................................................................................................................4系统结构框图.............................................................................................................................5第2章硬件设计...........................................................................................................................62.1控制器电路的设计与原理...................................................................................................62.2直流电动机驱动...................................................................................................................82.3车速和里程...........................................................................................................................92.4避障模块...............................................................................................................................92.5显示模块.............................................................................................................................102.6循迹模块.............................................................................................................................11总体设计...................................................................................................................................11第3章软件设计.........................................................................................................................123.1主程序流程图.....................................................................................................................123.2系统电机控制及避障程序.................................................................................................133.3测速程序.............................................................................................................................143.4液晶初始化及各显示子程序.............................................................................................153.5循迹程序.............................................................................................................................18第4章数据检测与测试...............................................................................................................19结论...........................................................................................................................................20附录..............................