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毕业设计(论文)专业：测控技术与仪器班级：09测控2班学生姓名：王文杰学号：09210040228课题：智能循迹小车的设计指导教师：陈松2013年6月10日安徽建筑大学毕业设计（论文）I摘要本文论述了基于单片机的智能循迹小车的控制过程。智能循迹是基于自动引导机器人系统，用以实现小车自动识别路线，以及选择正确的路线。智能循迹小车是一个运用传感器、单片机、电机驱动及自动控制等技术来实现按照预先设定的模式下，不受人为管理时能够自动实现循迹导航的高新科技。该技术已经应用于无人驾驶机动车，无人工厂，仓库，服务机器人等多种领域。本设计采用STC89C52单片机作为小车的控制核心；采用红外发射、接收管作为红外检测来探测道路中央黑线位置，采集信号并将信号转换为能被单片机识别的数字信号；驱动电路采用芯片L9110来控制直流电机，其中软件系统采用C程序，本设计的电路结构简单，容易实现，可靠性高。关键词：单片机；红外检测；驱动电路；智能循迹安徽建筑大学毕业设计（论文）IIAbstractThispaperdiscussestheintelligenttracingelectrictrolleycontrolprocess.Automatictracingisusedtomakethecaridentifyrouteautomatically,andchoosingtherightroute,basedontheautomaticguiderobotsystem.Intelligenttracingelectrictrolleyisanadvancedtechnologytorealizeautomatictracingnavigation.Itisoutofhumanmanagementbutunderthedesignedmodethatuseoftheuseofatransducer,singlechip,motordriveandautomaticcontrol.Thistechnologyhasbeenappliedinunmannedvehicle,unmannedfactory,warehouse,servicerobotandmanyotherfields.ThisdesignusesSTC89C52singlechipmicrocomputerasthecorecontrolofthecar;infraredtransmitterandreceivertubeasinfrareddetectortodetectroadcentralblacklineposition,signalacquisitionandsignalisconvertedtoadigitalsignalthatcanbeidentifiedmicrocontroller;drivercircuittocontroltheuseofchipL9110DCmotor,whereinthesoftwareprogramusingC,thedesignofthecircuitstructureissimple,easytoimplement,andhighreliability.Keywords:singlechipmicrocomputer;infrareddetector;drivecircuit;intelligenttracking安徽建筑大学毕业设计（论文）III目录第一章绪论...................................................................................................................................11.1智能循迹小车概述............................................................................................................11.1.1循迹小车的发展历程回顾.....................................................................................11.1.2智能循迹分类.........................................................................................................21.1.3智能循迹小车的应用.............................................................................................31.2智能循迹小车研究中的关键技术....................................................................................4第二章智能循迹小车总体设计方案.............................................................................................62.1整体设计方案....................................................................................................................62.1.1系统设计步骤.........................................................................................................62.1.2系统基本组成.........................................................................................................62.2整体控制方案确定............................................................................................................8第三章硬件设计.............................................................................................................................93.1循迹模块............................................................................................................................93.2MAX232CPE串口驱动模块...........................................................................................113.2.1MAX232CPE的介绍............................................................................................113.2.2MAX232CPE串口通讯功能驱动电路................................................................123.3蜂鸣器电路......................................................................................................................133.4STC89C52单片机控制电路............................................................................................143.4.1STC89C52单片机介绍.........................................................................................143.4.2单片机最小系统...................................................................................................183.4.3时钟电路...............................................................................................................193.4.4复位电路...............................................................................................................193.4.5EA/VPP（31脚）的功能和接法........................................................................203.5L9110马达驱动电路.......................................................................................................21安徽建筑大学毕业设计（论文）IV3.5.1L9110的介绍........................................................................................................213.5.2L9110的引脚功能................................................................................................223.5.3L9110的运行参数................................................................................................233.5.4L9110的逻辑控制................................................................................................243.5.5电机驱动模块.......................................................................................................24第四章软件设计...........................................................................................................................264.1总体结构框图......................................................