毕业设计
基于超声波的智能避障小车的研究与设计
基于超声波的智能避障小车的研究与设计
摘 要
在这个智能普及的时代，智能小车也逐渐吸引着高校学生和研究工作者们的眼球。基于单片机的智能小车制作成本较为低廉，操作起来比较方便，电路简单，程序方便易调试，且其比较考验制作者的细腻及用心程度，趣味性比较强，所以在本设计中的核心就是用单片机控制智能小车并使其搭载超声波测距仪，通过程序的编写以及对硬件各部分的调试，使其最终达到在障碍物小于编程中设定的距离的情况下能够进行自动避障。
超声波也是现在时代发展的主流。应用在各个大品牌的汽车上。自动泊车和拐弯都是在基于超声波的测距情况下来完成并实现其功能的。
本设计的最初灵感是来自仓库管理机器人，在如今劳动力较为饱和的社会现状下，能够用更小的投资获得最大的收益也成为企业家们更加关注的问题，若本设计能够完成并且能够完美收官，也会被不少企业家们所看重。
在本设计中综合运用了在大学四年间学到的单片机程序编写的知识、电路连接、硬件焊接以及电子设计等多种真正在学校学习到的本领。比较考验本人的知识融合能力以及动手操作的实践能力。对将来步入社会都起着举足轻重的作用。
关键词：超声波；避障；单片机；程序编写
Research And Design of Ultrasonic Intelligent Vehicle
Obstacle Avoidance
ABSTRACT
In this era of universal intelligent, smart car has gradually attracted college students and research workers of the eye. Based on single-chip smart car production is low in cost, convenient to operate, simple circuit, easy debugging procedures, and the comparative test and delicate intentions of the creators, interesting and relatively strong, so the core in this design is to use SCM smart car which equipped with ultrasonic range finder, through the program and the debugging of the hardware, so that it can reach the obstacle distance less than a set of programming in case of automatic obstacle avoidance.
Ultrasonic is the mainstream of the development of the times now. Used in various brands of cars. Automatic parking and turning are in the situation of the ultrasonic ranging down to complete and based on the realization of its function.
The original inspiration of this design is from the warehouse management in the social status of the robot, now labor is saturated, can obtain the maximum profit with less investment has become entrepreneurs pay more attention to the problem, if the design can complete and perfect ending, many entrepreneurs will be valued.
In this design, the integrated use of the knowledge learned in the four years of University circuit microcontroller programming the hardware connection, various welding and electronic design of real learning skills in school. The comparison test of the knowledge integration ability and practice ability of the operation. To enter the society in the future will play a decisive role.
Key Words：Singlechip；Ultrasonic；Obstacle avoidanc；Program
目 录
第一章 绪论 .................................................. 1
1.1 项目研究背景及意义 ................................................. 1 1.2 国内外发展情况 ..................................................... 1
1.2.1 国外发展现状 ................................................. 1 1.2.2 国内发展现状 ................................................. 2 1.3 毕业设计目标与内容 ................................................. 3 1.4 论文结构安排 ....................................................... 3
第二章 器材介绍 .............................................. 4
2.1 宝贝车底盘 ......................................................... 4
2.1.1 亚克支架底盘配件清单 ......................................... 4 2.1.2 TT变速电机 ................................................... 4 2.1.3 小车车轮2个 ................................................. 5 2.1.4 万向轮 1个 ................................................... 5 2.2 ULN2003 ............................................................ 6 2.3 MSP430F149单片机 .................................................. 8 2.4 继电器 ............................................................ 14 2.5 超声波测距仪器 US-100模块简介 .................................... 16
第三章 程序编写 ............................................. 20
3.1 US100超声波测距模块程序 .......................................... 20
3.1.1 超声波测距模块触发方式 ...................................... 20 3.1.2 单片机串口配置 .............................................. 21 3.2 电机驱动方式 ...................................................... 25
第四章 硬件平台的搭建 ........................................ 27
4.1 模块接线 .......................................................... 27
4.1.1 US-100超声波测距仪器 ........................................ 28 4.1.2 继电器 ...................................................... 28 4.1.3 电机 ........................................................ 29 4.2 小车运行实际效果 .................................................. 30
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