基于stc89c52单片机的智能循迹小车开题报告

forming the Government, enterprises and the public forces and actively participate in, sharing a strong atmosphere. Comrades, do work in the countryside and five water treatment, three to split, is related to overall development, responsibility, task, departments at all levels must play more than spirit, do solid work, and difficult, and efforts to promote the work to a new level, South Gate of XX beauty to make new and greater contribution to the building! Research by the County, the County Government, the convening of this county, three, poverty and development, environmental protection, the main task is to 2016-these work arrangements. For a while, . . Gay also made an important speech, we must pay special attention to follow-up. The following, according to the citys plans and . . Comrade usual requirements of our work, I want to tell you three views: the first, on three last year, my County three has made certain achievements. Capital work is done using city funds . . Billion yuan, annual tasks . .%; only completion target . . Minutes, annual tasks . . rate, access to city-wide recruitment talent introduction . . Award recognized scientific and technological achievements . . , Cooperation of . . Innovation platforms . . Also complete tasks in the city. The overall three column in the city . . Name, did not enter the city in recognition of the results of this. This means we and other counties than there is room to continue the efforts. From each town in the County Street, allocusing on ways and means of improving and upgrading work, further development of three to split. (A) fully grasp no unauthorised created. The township no unauthorised created the existing building one household, one document survey and file storage work must be unconditional and full coverage. Main corridor leading to the town (road, river) village, the Central built-up area of the town on both sides must be to create a no unauthorised village. According to five hundred villages created and shanty towns, villages, old houses, reconstruction of old plant, expand create, upgrading creates files, the real no unauthorised village created into the benefit of the people of very good thing. (B) to strictly manage count as unauthorised controls. Promoting the new control work to move the center of gravity, management measures to the front, and earnestly pipes effectively. A strict new unauthorised network responsibility. Sectors such as land, housing and basic stations (stations) and the Township of grid accountability mechanisms must be strictly in accordance with the new regulatory requirements, effective implementation of the area of responsibility of the new inspections, suppression, demolition work to ensure that the new zero tolerance. Second, public security, water, electricity, water, oceans and fisheries, tourism collaboration, market supervision departments should strictly enforce the illegal construction of disposal of relevant provisions of the regulations, effective fulfilment of responsibilities, particularly in electricity and water supply, and other units may not be new illegal buildings to supply water and electricity supply. While more regulation to prevent personal privacy violations. Illicit trading in illegal construction in the Ministry of public security sector to strictly from the blow. Three is to create additional offence reporting system of incentives. According to building law and covers an area of nature, to report timely degree divided report grade, effective after the removal of certain incentives. (C) integrated implementation , building demolition, modification, use combination. Demolition is the means and purpose built is. To adhere to the building demolished, combination of construction and demolition waste, demolished with combined efforts to improve the scientific level of three to split; second, we must pay attention to three to split and five hundred and five water treatment, three of the four sides, the shackDistrict transformation, and dangerous old room transformation and two road sides, series work organic combined up, active do River, and along demolition work, and manpower advance village in the, and old residential demolition work, to improved masses housing conditions and live environment; three to put three modified a split as traditional low, and small, and bulk industry structure transformation upgrade of important initiatives to caught, speed up advance industry Park, effective optimization park environment浙江机电职业技术学院毕业设计开题报告毕业设计开题报告课题名称:智能循迹小车二级学院（系）：电气电子工程学院专 业：机电一体化班 级：机电0933姓 名：潘彬彬学 号：指导教师：夏老师浙江机电职业技术学院毕业设计开题报告毕业设计课题：智能循迹小车一、本课题的研究现状与意义1、研究现状智能化作为现代社会的新产物，是以后的发展方向，他可以按照预先设定的模式在一个特定的环境里自动的运作，无需人为管理，便可以完成预期所要达到的或是更高的目标。同遥控小车不同，遥控小车需要人为控制转向、启停和进退，比较先进的遥控车还能控制其速度，而智能小车，则可以通过计算机编程来实现其对行驶方向、启停以及速度的控制，无需人工干预，是一个集环境感知、规划决策，自动行驶等功能于一体的综合系统，它集中地运用了计算机、传感、信息、通信、导航、人工智能及自动控制等技术，是典型的高新技术综合体。所以关于汽车的研究也就越来越受人关注，本设计就是在这样的背景下提出的，为了适应机电一体化的发展在汽车智能化方向的发展要求，提出简易智能小车的构想，目的在于：通过独立设计并制作一辆具有简单智能化的简易小车，获得项目整体设计的能力，并掌握多通道多样化传感器综合控制的方法。而我国开展智能车辆技术方面的研究起步较晚，开始于20世纪80年代。而且大多数研究处在于针对某个单项技术研究的阶段。虽然我国在智能车辆技术方面的研究总体上落后于发达国家，并且存在一定得技术差距，但是我们也取得了一系列的成果，主要有：（1）中国第一汽车集团公司和国防科技大学机电工程与自动化学院与2003年研制成功我国第一辆自主驾驶轿车。（2）南京理工大学、北京理工大学、浙江大学、国防科技大学、清华大学等多所院校联合研制了7B.8军用室外自主车，该车装有彩色摄像机、激光雷达、陀螺惯导定位等传感器。可以预计，我国飞速发展的经济实力将为智能车辆的研究提供一个更加广阔的前景。因此，对智能小车进行深入细致的研究，不但能加深课堂上学到的理论知识，更能将理论转化为实际运用，为将来打下坚实的基础。二、研究意义1、加深课堂上的学习由于单片机教学例子有限，因此，开展智能寻迹智能小车的研究工作，正适合机电一体化专业，能综合学生课堂上的知识来实践，使学习者更好的了解单片机的发展，而制作智能小车为机电一体化专业学科的学生学习和掌握机电一体化技术有很大的帮助，对机电一体化专业学科的学生进一步巩固已学知识加深已学知识起到促进作用，引导和激励学生实事求是、刻苦钻研、勇于创新、多出成果、提高素质，发现和培养一批在学术科技上有作为、有潜力的优秀人才。通过此次的单片机寻轨车制作，使学生从理论到实践，初步体会单片机项目的设计、制作、调试和成功完成项目的过程及困难，以此学会用理论联系实际，更能通过对实践中出现的不足与学习来补充教学上的盲点。2、从理论转为实际运用 智能汽车是一种高新技术密集的新型汽车，是在网络环境下利用信息技术、 智能控制技术、 自动控制、 模式识别、 传感器技术、 汽车电子、 电气、计算机和机械等多个学科的最新科技成果，使汽车具有自动识别行驶道路、 自动驾驶等先进功能.随着控制技术、 计算机技术和信息技术的发展,智能车在工业生产和日常生活中已经扮演了非常重要的角色.近年来， 智能车在野外、道路、 现代物流及柔性制造系统中都有广泛运用，已成为人工智能领域研究和发展的热点。智能汽车技术按功能可分为三层，即智能感知/预警系统、车辆驾驶系统和全自动操作系统团。上一层技术是下一层技术的基础。三个层次具体如下:(1)智能感知系统，利用各种传感器来获得车辆自身、车辆行驶的周围环境及驾驶员本身的状态信息，必要时发出预警信息。主要包括碰撞预警系统和驾驶员状态监控系统。碰撞预警系统可以给出前方碰撞警告、盲点警告、车道偏离警告、换道/并道警告、十字路口警告、行人检测与警告、后方碰撞警告等.驾驶员状态监控系统包括驾驶员打吨警告系统、驾驶员位置占有状态监测系统等。(2)辅助驾驶系统，利用智能感知系统的信息进行决策规划，给驾驶员提出驾驶建议或部分地代替驾驶员进行车辆控制操作。主要包括:巡航控制、车辆跟踪系统、准确泊车系统及精确机动系统。(3)车辆自动驾驶系统，这是智能车辆技术的最高层次，它由车载计算机全部自动地实现车辆操作功能。目前，主要发展用于拥挤交通时低速自动驾驶系统、近距离车辆排队驾驶系统等。二、本课题的基本内容、重点和难点，拟采用的研究手段（途径），工作进度安排，参考文献等。1、基本内容本课题主要开发一个能自动循迹的智能小车控制系统。设计主要以简易智能机器人为开发平台，选择通用、价廉的STC89C52单片机为控制平台，选择常见的电机模型车为机械平台，通过细化设计要求，结合传感器技术和电机控制技术相关知识实现小车的各种功能。设计完成以由红外线对管的自动寻迹、红外线超车组成的硬件模块结合软件设计组成多功能智能小车，共同实现小车的前进倒退、转向行驶，自动根据地面黑线寻迹导航，实现智能控制，达到设计目标。2、重点和难点（1）、能前进并且能左右调整方向（2）、基于单片机STC89C52控制，能基本实现小车匀速行驶（3）、小车能以黑线为轨迹前进行驶，自动调整方向沿着黑线行驶3、拟采用的研究手段（途径）（1） 系统设计：智能寻迹小车采用后轮驱动，左右后轮各用一个直流减速电机驱动，通过调制后面两个轮子的转速从而达到控制转向的目的 在车体前部分别装有左中右三或者两个红外反射式传感器，当小车左边的传感器检测到黑线时，说明小车车头向右边偏移，这时主控芯片控制左轮电机减速，车体向左边修正 同理当小车的右边传感器检测到黑线时，主控芯片控制右轮电机减速，车体向右边修正 当黑线在车体的中间，中间的传感器一直检测到黑线，这样小车就会沿着黑线一直行走。（2） 硬件设计：2.1主控芯片的选择本次设计的主控芯片选择为STC89C52。STC89C52是一种低功耗高性CMOS 8位微控制器，具有8K的系统可编程Flash存储器，使用高密度非易失性存储器技术制造，与80C51产品指令和引脚完全兼容片上Flash允许程序存储器在系统可编程，亦适于常规编程器 在单芯片上，拥有灵巧的8位CPU和在线系统可编程 Flash，使得STC89C52为众多嵌入式控制应用系统提供高灵活。2.2车体的选择在本次智能寻迹小车的选择过程中，我们选择了后面两轮驱动，前万向轮转向的小车，即后左右轮分别用两个转速和力矩基本完全相同的直流减速电机进行驱动，车头前部装一个万向轮 ，这样当我们通过I/O口控制两个直流减速电机的转速和转向时就可以实现小车的左转、右转和直行，因此，我将选择体积轻容易控制的小车做为车体。2.3寻迹模块设计寻迹模块我们可以用光敏电阻组成。光敏电阻的阻值可以跟随周围环境光线的变化而变化 当光线照射到白线上面时，光线发射强烈，光线照射到黑线上面时，光线发射较弱 因此当光敏电阻在白线和黑线上方时，阻值会发生明显的变化 将阻值的变化值经过比较器就可以输出高低电平，但是这种方式受环境影响大，工作不稳定，因此，我们将研究几种方案，选择性价比和各方面更好的红外传感器。4、工作进度安排 11月份12月份：选题；收集、查阅与基于自动寻迹的智能车相关的资料，对课题进行可行性分析1月份2月份：复习电路，模拟电子技术，单片机，传感器, 自动控制等技术等相关知识详细阅读相关资料3月份4月份：对已查资料进行归纳、整理，定出论文框架。4月份：利用收集的资料，和材料，着手准备做好基于自动寻迹的智能车的实物。4月份5月份：写出论文初稿，并对初稿进一步修改直至定稿。并做好实物。6月份：准备论文的答辩，并整理毕业论文相关的一系列材料。四、主要参考文献【1】 王秋爽，曾兆龙 单片机开发基础与经典设计实例 北京 机械工业出版社 2008年3月第一版【2】华成英 童诗白 模拟电子技术基础 第四版 高等教育出版社【3】吴锤红 MCS-51微机原理与接口技术 厦门大学出版社【4】张毅刚 单片机原理及应用 2003年12月第一版 高等教育出版社【5】杨江新，李华军，刘东俊，单片机程序设计及应用从基础到时间， 北京，电力电子出版社，2006年3月第一版【6】赵家贵、付小美、董平，新编传感器电路设计手册，中国计量出版社，2002【7】李华等，MCS-51系列单片机实用接口技术，北京航空航天大学出版社，2003 【8】王晓明，电动机的单片机控制，北京航空航天大学出版社，2002【9】杨子文. 单片机原理及应用 西安：西安电子科技大学出版社.2006 指导教师意见： 指导教师： 年 月 日院系意见： 盖章 年 月 日所有进场钢材，挂有标牌，牌上印有厂标、钢号、炉罐（批）号、直径等标记并附有质量证明书；无质量证明书，不得入库；经检验合格后物资设备部方可收货，如发现不合格钢材，不得验收入库。合格钢材应分批验收入库。forming the Government, enterprises and the public forces and actively participate in, sharing a strong atmosphere. Comrades, do work in the countryside and five water treatment, three to split, is related to overall development, responsibility, task, departments at all levels must play more than spirit, do solid work, and difficult, and efforts to promote the work to a new level, South Gate of XX beauty to make new and greater contribution to the building! Research by the County, the County Government, the convening of this county, three, poverty and development, environmental protection, the main task is to 2016-these work arrangements. For a while, . . Gay also made an important speech, we must pay special attention to follow-up. The following, according to the citys plans and . . Comrade usual requirements of our work, I want to tell you three views: the first, on three last year, my County three has made certain achievements. Capital work is done using city funds . . Billion yuan, annual tasks . .%; only completion target . . Minutes, annual tasks . . rate, access to city-wide recruitment talent introduction . . Award recognized scientific and technological achievements . . , Cooperation of . . Innovation platforms . . Also complete tasks in the city. The overall three column in the city . . Name, did not enter the city in recognition of the results of this. This means we and other counties than there is room to continue the efforts. From each town in the County Street, alland improve idle land of utilization, real achieved environment improved and productivity development mutual promoting total win. Five, firmly implement, promoting work ahead, to create highlights. Third deployment, implementation of seven, then it is imperative to strengthen responsibility and improve the mechanisms and implementation. All localities and departments must be convinced that goals, going all out, mustering spirit, work together to ensure that this years objectives carry out tasks, at the forefront. First, we must strengthen the leadership to implement. Departments at all levels should always work and rural five water treatment, three to split in an important position, and carry the main responsibility, main leader personally, leaders arrested and layers of responsibility rank transmission pressure established hierarchical accountability, and work together to promote the work of the mechanism, a concerted effort pay attention to implementation. County nongban, flood, three to one down to further play a leading catch total, integrated and coordinated role of all kinds is long, Sheriff Inspector to effectively fulfill their responsibilities, formed the alignment on the fire line and management a lively situation. Second, we must strengthen the test implementation of the Governor. Role play the Governor got the baton, for agricultural and rural focus and five water treatment, three to split work, refine improve assessment methods and evaluation system, accurate assessment. Combined with dare play, tree benchmark style building five major operations, carry on and gain firsthand experience of supervision, in particular, to strengthen the focus on the long signs go