走迷宫智能小车的研究与实现.doc

摘要 走迷宫主要是基于原理导引采用与地面颜色有较大差别的导引线，实现小车识别路线，判断并自动避障，选择正确的行进路线。驱动电机采用直流电机，电机控制方式为单向PWM开环控制。控制核心采用单片机，仅用一块单片机就实现了信号采集，路线判断，电机控制。该技术可以应用于无人工厂仓库，服务机器人等领域。总体规划 于走迷宫小车控制系统设计主要有三个方面：一、控制电路设计；二、传感器选择以及安放位置设计；三、程序设计。从总的方面来考虑，传感器的使用数量应该尽量少以减少单片机的信号处理量，但是又必须能使小车行驶自如。控制电路要根据选用的电机和传感器来设计，主要考虑稳定性，抗干扰性Abstract A maze-running intelligent car is mainly based on the principle of automatic response intelligent system. It uses reflective infrared sensor to guide and the pilot wires are vary different from the ground in color. It uses infrared receiver to detect the position of the obstacle and is by change of PWM square-wave produced by MCU to realize arbitrary angle moving among the designed range and indentifying the route. It can touches maze automatically, judge and avoid the obstacle automatically, and choose the right marching route. It uses DC Motor as the driving motor. The control mode of the motor is unidirectional PWM open-loop control. This control makes MSP430 MCU as its core. It only uses one MCU to realize the signal collection and route estimation and motor control. This Technology can be applied in the fields such as unmanned factory and warehouse and Service Robot. The overall plan: The design of the control system of maze-running intelligent car mainly includes three parts: First: the design of the control circuit; Second: the choosing of the sensor and the design of the mount position; Third: Program Design. From a overall perspective, you should use the sensors as few as possible so as to reduce the signal processing amount of the MCU and at the same time you must make the car march freely. The control circuit must be designed according the motors and sensors chosen, mainly take the stability and the noise immunity into account. Keywords: MSP430 maze algorithm obstacle avoidance PWM  目录 第一章　绪论 1 第二章 各部件的工作原理 3 2.1 前轮（导向轮） 3 2.2　电机 4 2.3　反射式红外传感器 5 2.4　红外一体化接收头 6 第三章　硬件电路 11 3.1　电机驱动电路 11 3.2　反射式红外传感器电路 13 3.3　红外