A1A0A2A3A4A5A6A8A9A7A10A11A0A12A13A14A16A17A15A18A6A19A20A22A22A23A21A24A25A261數(shù)理與信息工程學(xué)院單片機原理及應(yīng)用期末課程設(shè)計題目智能小汽車專業(yè)電子信息工程班級電信姓名XXX學(xué)號XXX指導(dǎo)老師XXX成績2007126A27A28A29A30A31A32A33A34A35A36A37A38A28A39A40A41A42A43A44A45A33A46A47A48A48A49A50A51A52A532目錄第1節(jié)引言311智能小汽車系統(tǒng)概述312本設(shè)計任務(wù)和主要內(nèi)容3第2節(jié)系統(tǒng)主要硬件電路設(shè)計421系統(tǒng)方案論證與比較422單片機主機系統(tǒng)電路5221時鐘電路5222復(fù)位電路623電機的選擇與論證624電機驅(qū)動方案與電路625探測障礙物方案與電路826光源檢測方案與電路927顯示部分方案與電路928電源方案與PCB電路1029入庫前后聲音提示方案與電路11210攔柵控制電路12211車速檢測模塊電路13第3節(jié)系統(tǒng)的軟件設(shè)計1431系統(tǒng)主程序設(shè)計1432小車行使程序32第4節(jié)結(jié)束語39參考文獻40附錄41A54A55A56A57A58A59A60A61A62A63A64A65A55A66A67A68A69A70A71A72A60A73A74A75A75A76A77A78A79A803智能小汽車第1節(jié)引言題目要求設(shè)計一智能小汽車，小車能夠準(zhǔn)確尋找到光源，并隨著光源的引導(dǎo)，能夠順利地進入車庫，同時在行程過程中能準(zhǔn)確地顯示小車的行使路程的總時間。根據(jù)要求本設(shè)計用兩個電機來控制小車的轉(zhuǎn)向，用紅外對管傳感G3132來檢測障礙物，用光G6947電G19471來檢測光源，用G3824G7242來顯示小車的行使時間和車庫攔柵G990G2331的時間G451G20652G5242G1209G2462G5415前G9213G5242G12573。與G8504同時G17902過G16833音電路來G4466G10628G1166G5627G2282的G1166機G1126動。G1328G2709G2499G1209G1328G1038G20652G13435智能G10621G1867，G1075G2499G1209G1328G1038G3835G4410G10995G4410G1076G4896入G5347控制的G5390G7389G2159的G5224用G4466G1375，G16825系統(tǒng)G4570G1262G7389G7368G5203G19432的G5332G2469前G7235。11智能小汽車系統(tǒng)概述本設(shè)計制G1328G1114一G8466G1867G7389智能G2040G7041G2163能的小車，G2163能G5390G3835。小車G1867G7389G1209G991G1972個G2163能G726G14270動G18003障G2163能G708G18003G1825G6770到車庫的G989塊G7420G7507G709G727G17247光G2163能G708尋找前方的G9869光源并行G20554到位G451尋找車庫G19388G709G727顯示小車行G17220的總時間G1209G2462車庫攔柵G990G2331的時間G451G20652G5242G1209G2462G5415前G9213G5242，同時在小車準(zhǔn)G3803入庫時和入庫后進行G16833音提示。在小車行G17220控制中G1328G2709G1209兩G11464G8981電動機G1038主驅(qū)動，G17902過G2520G12879傳感G3132G1226來G18331G19610G2520G12879G1461G5699，G17877入主控單G1815G36G5589C51單片機，G3800G10714G6980據(jù)后G4448G6116G11468G5224動G1328，G1209G17810到G14270動控制。在G5332G2563和G1863G19393車庫攔柵時用G8505進電機來控制，并G17902過單片機來G4466G10628G11468G5224動G1328。G11464G8981電機驅(qū)動電路G18331用G989G7509管8550G4518050G13464G6116的G43G7737G3423驅(qū)動電路G2462G5224用光G15273G14467片對兩路電源進行分G12175。G8505進電機G18331用G47298G49和G44G495408來驅(qū)動，G1866中G18003障G18331用紅外對管G6922G2469來G4448G6116G727G17247光部分G17902過兩路光G6947電G19471對光源G1461G2507的G18331G19610，G1889G4570G1461G2507G17877到單片機G3800G10714G2447G2040G2047方向，并G11013控制單G1815G3800G10714G6980據(jù)后G4448G6116G11468G5224動G1328，G4466G10628G1114G7092G1166控制G2375G2499G4448G6116一系G2027動G1328，G11468G5415G1122G12628G7143機G3132G1166。12本設(shè)計任務(wù)和主要內(nèi)容XXX本論G7003主要G11752G12362單片機控制的智能小汽車系統(tǒng)，小車控制技術(shù)G2462系統(tǒng)設(shè)G3803的軟G451硬G1226G2520個部分進行G1114G11752G12362。主要內(nèi)容如G991G726根據(jù)小車的特G9869，進行智能小汽車控制系統(tǒng)的整體G11752G12362與設(shè)計。對G1866設(shè)計進行G1114深入的G11752G12362，重G9869G11752G12362小車入庫控制方G5347。G47CD顯示小車行G17220的總時間G1209G2462車庫攔柵G990G2331的時間G451G20652G5242G1209G2462G5415前G9213G5242，同時在小車準(zhǔn)G3803入庫時和入庫后進行G16833音提示。第2節(jié)系統(tǒng)主要硬件電路設(shè)計21系統(tǒng)方案論證與比較XXX方案一G726G18331用G2520G12879G6980字電路來G13464G6116小車的控制系統(tǒng)，對外圍G18003障G1461G2507，G2520路A81A82A83A84A85A86A87A88A89A90A91A92A82A93A94A95A96A97A98A99A87A100A101A102A102A103A104A105A106A1074G17247光G1461G2507進行G3800G10714，車庫攔柵G990G2331G991降控制，G9213G5242顯示G12573。本方案電路復(fù)雜，靈活G5627G20652，效率低，不利G1122小車智能G2282的擴展，對G2520路G1461G2507G3800G10714比較困難。方案二G726G18331用G36G5589C51單片機來G1328G1038整機的控制核心單G1815。紅外線探頭G18331用市面G990G17902用的G2469射管與G2462接G6922頭，經(jīng)過單片機調(diào)制后G2469射。車庫攔柵控制部分用G8505進機來驅(qū)動G1889G4570G18331G19610到的G2520G12879G1461G2507G17877往單片機進行綜合分析G3800G10714，G4466G10628準(zhǔn)確G7389效的動G1328，G8504系統(tǒng)比較靈活，G18331用軟G1226方法來解決復(fù)雜的硬G1226電路部分使系統(tǒng)硬G1226G12628潔G2282，G2520G12879G2163能G7143G1122G4466G10628，能很好地滿足題目的要求，并容G7143擴展G2163能。比較G1209G990兩種方案的優(yōu)缺G9869，方案二G12628潔G451靈活G451G2499擴展G5627好，能G17810到題目的設(shè)計要求，因G8504G18331用方案二來G4466G10628。本系統(tǒng)G2499G11013圖21所示的G1972個部分G13464G6116。單片機MCS51A108A109A110A111A112A113A114A115A116A117A118A119A120A121A122A123A124A125A121A122A123A126A127A128A119A129A130A131A132A133A134A135A136A137A138LCDA139A140A141A130A142A143A116A144A145A146A147A148A149A150A151A152A153A154A155A156A157A158A145G1866中傳感G3132原G10714框圖如圖22所示。A145A146A147A146A159A160A161A156A157A158A14522單片機主機系統(tǒng)電路A162A163A164A165A166A167A168A169A170A171A172A173A163A174A175A176A177A178A179A180A168A181A182A183A183A184A185A186A187A1885G36G5589C51單片機是51系G2027單片機的一個G6116員，是8051單片機的G12628G2282版。內(nèi)部G14270帶2K字節(jié)G2499編程FG47G36SG43存儲G3132的低電壓G451G20652G5627能COMS八位微G3800G10714G3132，與G44NTELMCS51系G2027單片機的指令和輸出管腳G11468兼容。G11013G1122G4570多G2163能八位CPU和閃速存儲G3132結(jié)合在單個G14467片中，因G8504，G36G5589C51構(gòu)G6116的單片機系統(tǒng)是G1867G7389結(jié)構(gòu)最G12628單G451造價最低廉G451效率最G20652的微控制系統(tǒng)，省G2447G1114外部的RG36MG451ROM和接口G3132G1226，減少G1114硬G1226G5332銷，節(jié)省G1114G6116本，提G20652G1114系統(tǒng)的G5627價比。A189A190A191A192A193A194A195A196A195A197A198A189221時鐘電路單片機的時鐘G1461G2507用來提供單片機片內(nèi)G2520種微操G1328的時間基準(zhǔn)，時鐘G1461G2507G17902常用兩種電路形G5347得到內(nèi)部振蕩和外部振蕩。MCS51單片機內(nèi)部G7389一個用G1122構(gòu)G6116振蕩G3132的G20652增益反向放G3835G3132，引腳XG55G36G47L和XG55G36G472分G2047是G8504放G3835電G3132的輸入端和輸出端，G11013G1122G18331用內(nèi)部方G5347時，電路G12628單，所得的時鐘G1461G2507比較穩(wěn)定，G4466際使用中常G18331用這種方G5347，如圖23所示在G1866外接G7242體振蕩G3132G12628稱G7242振或陶瓷諧振G3132G4613構(gòu)G6116G1114內(nèi)部振蕩方G5347，片內(nèi)G20652增益反向放G3835G3132與G1328G1038反G20316G1815G1226的片外G11719G14533G7242體或陶瓷諧振G3132一G17227G2499構(gòu)G6116一個G14270G9620振蕩G3132并G1147G10995振蕩時鐘G14045G1926。圖23中外接G7242體G1209G2462電容C2和C1構(gòu)G6116并G13864諧振電路，G4439G1216G17227穩(wěn)定振蕩G20069率G451G5567速G17227振的G1328用，G1866G1552G3355G103830PG5050G2503，G7242振G20069率選12MG43G93。222復(fù)位電路G1038G1114G2033G3999G2282單片機內(nèi)部的G7588G1135特G8542G2163能G4504存G3132，G5529G20047G18331用復(fù)位的方G5347，復(fù)位后G2499使CPUG2462系統(tǒng)G2520部G1226G3800G1122確定的G2033G3999G10378G5589，并G1186G2033G3999G10378G5589G5332G3999G8503常G5049G1328。A199A200A201A202A203A204A205A206A207A208A209A210A200A211A212A213A214A215A216A217A205A218A219A220A220A221A222A223A224A2256單片機的復(fù)位是G19764外電路來G4466G10628的，在G8503常G17828行G5785G1929G991，G2494要RSG55引腳G990出G10628兩個機G3132G2620G7411時間G1209G990的G20652電G5191，G2375G2499引G17227系統(tǒng)復(fù)位，G1306如G7536RSG55引腳G990G6357G13505G1038G20652電G5191，單片機G4613G3800G1122G5502G10627復(fù)位G10378G5589。復(fù)位后系統(tǒng)G4570輸入G18輸出1G180端口G4504存G3132G13634G1038FFG43，G3546G7644指G19036SPG13634G103807G43G15SBUF內(nèi)G13634G1038不定G1552，G1866G1325的G4504存G3132G1852部G91770，內(nèi)部RG36M的G10378G5589不G2475復(fù)位的G5445G2721，在系統(tǒng)G990電時RG36M的內(nèi)容是不定的。復(fù)位操G1328G7389兩種G5785G1929，G2375G990電復(fù)位和G6175動G5332G1863復(fù)位。本系統(tǒng)G18331用G990電復(fù)位方G5347。圖23中R9和CLG13464G6116G990電復(fù)位電路，G1866G1552RG2474G103810KG15CG2474G103822G83F。23電機的選擇與論證方案一G726G18331用G7234G17902的G11464G8981電機。G11464G8981電動機G1867G7389優(yōu)G14403的調(diào)速特G5627，調(diào)速G5191G9381G451方G1427，調(diào)整G14551圍G5203，過G17745能G2159G5390，能G6227G2475G20069G13333的G1926G1999G17139G17745，G2499G4466G10628G20069G13333的G7092G6980G5567速G2563動G451制動和反轉(zhuǎn)。方案二G726G18331用G8505進電機。G8505進電機的一個顯G14891特G9869是G1867G7389G5567速的G2563G1584能G2159，如G7536G17139G14667不G17241過G8505進電機所能提供的動G5589轉(zhuǎn)G11709G1552，G4613能夠G12447G2375使G8505進電機G2563動或反轉(zhuǎn)。G2490一個顯G14891特G9869是轉(zhuǎn)G6454G12946G5242G20652，G8503轉(zhuǎn)反轉(zhuǎn)控制靈活。G13783G15397到時間的G19492制，同時G7234G17902的G11464G8981電機電路設(shè)計G11468對G12628單G1000容G7143G14731得，所G1209在設(shè)計小車行G17220過程中G18331用選擇方案一的G10628G6116的G11464G8981電機G1328G1038動G2159驅(qū)動。在車庫攔柵控制部分，G18331用方案二的G8505進電機來進行控制。24電機驅(qū)動方案與電路方案一G726G18331用G13499電G3132對電動機的G5332或G1863進行控制，G17902過控制G5332G1863的G2011G6454速G5242G4466G10628對小車的速G5242進行調(diào)整。這個電路的優(yōu)G9869是電路結(jié)構(gòu)G12628單，G1866缺G9869是G13499電G3132的G2721G5224時間G19283，G7143G6451G10627，G4563G2641G11713，G2499G19764G5627不是很G20652。方案二G726小車行G17220電路G18331用兩對G1126G15929G3423G7242體管8550G708PG49PG709G3423和8050G3423G708G49PG49G709接G6116G7737G5347電路。用G36G5589C51軟G1226編程來控制G2520G7242體管導(dǎo)G17902，分G2047對G5224電機的G8503轉(zhuǎn)與反轉(zhuǎn)，同時G1038G1114G17810到效G7536G6117G4570控制電路電源和電動機電源G19560G12175G5332來，在G7737G5347電路G1055前G2164G1114光電G13818合G3132G708U5BG55P5212G709，G16825電路的優(yōu)G9869是電路G12628單，G17902過單片機的軟G1226控制G1126G15929G3423G7242體管的導(dǎo)G17902與G6142G8502，方G1427的調(diào)整電動機的G17828動G10378G5589。缺G9869是G5415兩個輸入端G18129G1038G20652電G5191時，驅(qū)動電路的G989G7509管同時導(dǎo)G17902，容G7143G9915G3363G7242體管。方案G989G726G7081G709車庫攔柵控制部分G18331用G19610G6116電路G47298G49和二G7509管G44G495408G13464G6116的電路來G1328G1038驅(qū)動，G1866原G10714如同方案二，同G7691利用G7242體管的導(dǎo)G17902與G6142G8502來驅(qū)動電機的轉(zhuǎn)動。G47298G49內(nèi)部G2265G25594G17902G17959G17935G17765驅(qū)動電路。是一種二G11468和G3247G11468電機的G999用驅(qū)動G3132，G2375內(nèi)G2559二個G43G7737的G20652電壓G3835電G8981G2464G1852G7737G5347驅(qū)動G3132，接G6922G7643準(zhǔn)G55G55G47G17935G17765電G5191G1461G2507，G2499驅(qū)動46G57G4512G36G1209G991的電機。1腳和15腳G2499單G10432引出G17842接電G8981G18331G7691電G19471G3132，形G6116電G8981傳感，因G8504對G8505進機來G16840，G2499G1209G19762常好的對G1866驅(qū)動。G7082G709G18331用驅(qū)動G8505進機G999用G14467片UG47G492003G36，G16825G14467片電路G12628單，容G7143控制，G1306驅(qū)動G2159比較G3835。A199A200A201A202A203A204A205A206A207A208A209A210A200A211A212A213A214A215A216A217A205A218A219A220A220A221A222A223A224A2257在本G8437設(shè)計中的小車行G17220電路，G11013G1122G13499電G3132對設(shè)計中的種種G19492制，所G1209G18331用方案二中的8050和8550G13464G6116的G7737電路。對車庫攔柵控制部分，因G1038題目要求電機能夠G14270如提G17227放G991攔柵G708重G18339比較重G709，G11013G1122G8821能找到G17810G7531G20051管UG47G492003G36，因G8504G6117G1216G18331用驅(qū)動G2159比較G3835的G47298G49來驅(qū)動，因G8504G18331用方案G989G7081G709。12DJCON2Q38550Q48550D3IN4148D1IN4148D2IN4148D4IN4148C101UFR333KR433KVCCR501KR201KR847KL1LED3L2LED3R14705VAR747K5VR6470BQ18050Q28050U1OPTOISO1_1U2OPTOISO1_112J1CON2ABA189A190A191A226A227A228A195A229A230A231A232A228A227A233G16825電路的G5049G1328原G10714如G991所示G726電動機驅(qū)動G11013單片機兩路輸入，G2499分G1038G3247種G5785G1929G16764論G726G7081G709G5415G36端輸入G1038低電G5191G451B端輸入G1038G20652電G5191時，使G521G451G524管G6142G8502，G522G451G523管導(dǎo)G17902，電動機G8503轉(zhuǎn)。G7082G709G5415G36端G451B端輸入G18129G1038G20652電G5191時，經(jīng)過光電傳輸，使G521G451G522G451G523G451G524管G18129G6142G8502，電動機不G17828轉(zhuǎn)。G7083G709G5415G36端輸入G1038G20652電G5191G451B端輸入G1038低電G5191時，使G521G451G524管導(dǎo)G17902G451G522G451G523管G6142G8502，電動機反轉(zhuǎn)。G7084G709G5415G36端G451B端輸入G18129G1038低電G5191，經(jīng)過光電傳輸，使G521G451G522G451G523G451G524管G18129導(dǎo)G17902，這在電路中是不G1813G16780出G10628的G10628象G13783G15397到電動機的G2563動時電G8981很G3835，而G1000電動機波動較G3835，容G7143造G6116電壓不穩(wěn)G451G12573干擾，G6117G17828用G1114P521光G13818G19610G6116塊，G4570控制部分與電動機的驅(qū)動電路G19560G12175G5332來，確保安G1852。25探測障礙物方案與電路方案一G726G18331用G17241聲波測距障礙。G17241聲波測距模塊利用G1866測距原G10714G2499G1209G2499G19764地G2040G7041小車前方是否G7389障礙物，如G7536傳感G3132接G6922到反射回來的G17241聲波，則G17902過單片機來控制小車前進路線。G1306是G17241聲波G2475G10627境G5445G2721較G3835，電路復(fù)雜，而G1000地面對G17241聲波的反射，G1262G5445G2721系統(tǒng)對障礙物的G2040G7041。A199A200A201A202A203A204A205A206A207A208A209A210A200A211A212A213A214A215A216A217A205A218A219A220A220A221A222A223A224A2258方案二G726G18331用紅外對管。電路中帶G7389G19610G6116鎖G11468G10627路解碼G3132G47M567或使用G47M393。G5415紅外G2469射管檢測到障礙物時，G47M567輸出端輸出低電G5191，否則輸出G20652電G5191，并G4570G1461G2507傳給單片機來控制小車G18003障和前行的動G1328。利用單片機來G1147G10995G1461G2507對紅外線G2469射管進行調(diào)制G2469射，G2469射出G2447的紅外線遇到G18003障物的時候反射回來，紅外線接G6922管對反射回來G1461G2507進行解調(diào)，輸出G55G55G47電G5191。外界對紅外G1461G2507的干擾比較小，G1000G7143G1122G4466G10628，價格G1075比較G1427宜。G17902過比較G1209G2462材料夠得的容G7143G5785G1929，選擇G1114方案二中紅外對管電路比較合G10714。在G8504模塊中是使用紅外對管和G19610G6116電路G47M393，G17902過紅外G2469射管是否檢測到障礙物G5785G1929，經(jīng)過G47M393輸出端輸出電G5191的G20652低，G4570G8504G1461G2507G17877給單片機，使G1055執(zhí)行G11468G5224的動G1328，G1866電路原G10714圖如圖25所示。R1100RD1LEDQ19014R210KR3100KR71KD2PHOTOC110UR647K3261574U1LM741C2104R4100KC3103OUT8GND7CT6RT5OFIL1LFIL2IN3V4U2LM567R81KC4104C6104C51UD3LEDR51K123J1CON3VCCA189A190A191A234A235A236A237A238A239A227A233A240A241A18926光源檢測方案與電路方案一G726利用光G6947電G19471G13464G6116的電路。G5415光G6947電G19471檢測到光源時，光G6947電G19471對是否接G2475到光源時G1262G1147G10995G20652低不同的G1461G2507G14045G1926，這G7691G4570G1461G2507傳給單片機G1186而控制小車向光源行使到G17810車庫。方案二G726利用紅外G2469射G451接G6922G3132G13464G6116的電路，G1867G7389G2499G3835幅G5242減少外界干擾，靈G6947G5242G20652，G1461噪比G5390G12573優(yōu)G9869G15G1306是，電路復(fù)雜G451調(diào)試難G5242G3835。G2490外，電動車進入車庫后，要求小汽車能夠G12447G2375G1584車，G17902過紅外G2469射G451接G6922G3132檢測車庫障礙物，然后G17902過單片機動G1328使電動車G12447G2375剎車。G1306容G7143車身壓線，不符合題目要求。因G8504，不G18331用G8504方案?；鵊1122G990述G10714論分析，選擇方案一。設(shè)計中，在車頭安裝G1114兩個光G6947電G19471，把電動車引到G7389光源的車庫，原G10714是A199A200A201A202A203A204A205A206A207A208A209A210A200A211A212A213A214A215A216A217A205A218A219A220A220A221A222A223A224A2259這G7691的G726G5415G5050邊的光G6947電G19471檢測到光源時，小車G1262往G5050轉(zhuǎn)，G5415G5050邊的光G6947電G19471檢測到光源時，小車G1262往G5050轉(zhuǎn)。G2164G990G1866他傳感G3132的G1461G5699G18331G19610，G1186而讓小車準(zhǔn)確如庫，G1866電路原G10714圖如圖26所示。D24100D1A242A243A244A245A246A247A248RA249A250A251R147KR247KC1104R347KVCCD44100D3A242A243A244A245A246A247A248RA249A250A251R547KR647KC2104R747KVCC12J1CON2VCC12J2CON2OUT1OUT2Q4NPNB2C3E1Q1NPNQ2NPNB2C3E1Q3NPNQ5NPNB2C3E1Q6NPNR8POT111W233R4POT1A189A190A191A252A253A254A237A238A227A233A240A241A18927顯示部分方案與電路方案一G726G18331用G47EDG6980碼管顯示小車行G20554的時間和路程G1209G2462攔柵G990G2331時間和G20652G5242，在本系統(tǒng)中要用到10G2494G47EDG6980碼管進行動G5589顯示G2375G2499G17810到要求。G1866優(yōu)G9869是價格G1427宜，G4563G2641G19283G727缺G9869是G2494能顯示09的G6980字和一G1135G12628單的字符，電路設(shè)計G13333鎖，G1000占用空間。方案二G726G18331用G47CDG70812864G709液G7242顯示，G1866優(yōu)G9869是能顯示G7368多的字符，G5049G1328電G8981比G47ED小，故G1866G2163耗低，G1000G2499G1209G7389G14403好的G1166機界面，G11464觀，顯示效G7536漂亮，體積小。綜合G13783G15397選擇G8504方案。G11013G112212864液G7242不僅G2499G1209顯示G6980字，而G1000G2499G1209顯示漢字和圖象，這G7691設(shè)計G1147G10995的效G7536G19762常G11464觀，G1867G7389G1166G5627G2282設(shè)計。在本設(shè)計中G18331用12864G1328G1038顯示部分，電路原G10714圖如圖27所示G726A199A200A201A202A203A204A205A206A207A208A209A210A200A211A212A213A214A215A216A217A205A218A219A220A220A221A222A223A224A22510EA/VP31X119X218RESET9RD17WR16INT012INT113T014T115P101P112P123P134P145P156P167P178P0039P0138P0237P0336P0435P0534P0633P0732P2021P2122P2223P2324P2425P2526P2627P2728PSEN29ALE/P30TXD11RXD10805112345678CON812345678CON812345678J10CON8P10P11P12P13P14P15P16P17P00P01P02P03P04P05P06P07P20P21P22P23P24P25P26P27R110KC310UFVCCP10P11P12P13P14P15P16P17P00P01P02P03P04P05P06P07P20P21P22P23P24P25P26P27P33P32P35P34P37P36P30P31P07P06P05P04P03P02P01P0012345678CON812345678J5CON8P30P31P32P33P34P35P36P37C1CAPC2CAPY1CRYSTALS1SWPB12CON2VCCGND123J2CON3EA/VPALEPSENEA/VPALEPSEN12345678910111213141516J181602GNDVCCXZP20P21P22P00P01P02P03P04P05P06P07VCCGND8877665511223344DS1302JP1DS1302R547KC4CAPC3CAPC5CAPP23P24P25123J20DS18B20P27A255A3A4A38A39A0A41A6A1A2A5A7A8A9A10A11A12A13A14A15A16A25528電源方案與PCB電路方案一G726G18331用G2464電源供電。用兩個電源分G2047給控制系統(tǒng)和電機系統(tǒng)供電，G4570兩個系統(tǒng)G4448G1852G19560G12175，利用光電G13818合G3132傳輸G1461G2507，G4570電動機驅(qū)動所造G6116的干擾徹底消除，這G7691G4613提G20652G1114系統(tǒng)的穩(wěn)定G5627。方案二G726用單電源給電機系統(tǒng)供電，G1306是控制系統(tǒng)對電G8981需求G18339G3835，因G1038電機G2563動瞬間電G8981G1262很G3835，G1262造G6116控制系統(tǒng)電壓不穩(wěn)，干擾較G3835，嚴重時G2499能造G6116單片機系統(tǒng)掉電。綜G990所述，G18331用方案二G1000用5節(jié)15G57的干電磁G13464G611675G57的電源或使用蓄電池給電機系統(tǒng)供電，用1節(jié)9G57的干電磁與7805G13464G6116輸出恒G10385G57的電源給控制系統(tǒng)供電。本設(shè)計G13783G15397到小車所能G6227G2475的壓G2159G7389G19492，所G1209G18331用比較G12628單的G110137805G13464G6116的電源對小車系統(tǒng)進行供電。G1866電路圖如圖28所示。A17A18A19A20A21A22A23A24A25A26A27A28A18A29A30A31A32A33A34A35A23A36A37A40A40A42A43A44A45A4611A47A48A49A50A51A52A53A51A54A55A56A57A58A4729入庫前后聲音提示方案與電路方案一G726G18331用74G47S04G19762G19388G13464G6116的G7234G17902電路，G11013單片機G1147G10995不同的G20069率G1461G2507來G4448G6116聲音提示，G8504方案G7143G1122G4466G10628，G6116本G1075不G20652，能G4448G6116聲音提示G2163能，G2499給G1166G1209提示的G2499懂G5627比較差。方案二G726G18331用G44SD1420G2499分段錄放音模塊，能夠給G1166G1209G11464觀的提示，G1306G44DS1420錄放音模塊價格比較G20652，G1075G2499G1209G18331用G8504方案來G3800G10714，G1306G11013G1122G16825G14467片最G3835錄音時間G103820S，G2499讀G5627比較好，G1867G7389G1166G5627G2282的操G1328，對題目設(shè)計來G16840G2499能G17810不到要求。方案G989G726G18331用G44SD2560錄放音模塊，同G7691能夠給G1166G1209G11464觀的提示，價格G1075比較G20652，同時G16825G14467片最G3835錄音時間G103860S，G2499讀G5627很好，G1867G7389G1166G5627G2282的操G1328，G2499G1209滿足題目要求。綜G990所述G726方案一對一般的報警G2499G1209G17810到要求，G1306在設(shè)計中要求做到G1166G5627G2282的要求，因G8504放棄方案一，對方案二和方案G989G18331用錄音時間G19283的G44SD2560來G4466G10628，這G7691G7368能保證設(shè)計的G2499G19764G5627和G7389效G5627。G8504模塊G7389G989部分電路G13464G6116，G2499G1209G10432G12447地G4448G6116G2520G14270的G2163能，G16833音播放G2163能G2499G1209G17810到G11464觀，G1867G7389G1166G5627G2282的服務(wù)。聲光電路結(jié)構(gòu)G12628單，主要用G1209報警提示。G9213G5242檢測電路利用DS18B20G9213G5242傳感G3132的特G9869，G2499G1209準(zhǔn)確地檢測到G2620圍G10627境的G9213G5242。G1866原G10714圖如圖29所示。A17A18A19A20A21A22A23A24A25A26A27A28A18A29A30A31A32A33A34A35A23A36A37A40A40A42A43A44A45A4612A01A12A23A34A45A56A67A78A89A910CE/23PD24P/R/27EOM/25OVF/22XCLK26VCCD28VCCA16VSSD12VSSA13SP14SP15AUXIN11ANAIN20ANAOUT21MICREF18MIC17AGC19A1ISD2560LS1SPEAKERMK1MICROPHONE2C101UC201UC422UC747UC322UC601UR251KR12KR410R3470KVCCC522UC8220UVCC123J3CON312345678910J2CON1012345678910J1CON1012J4CON212J2A74LS0712J1CON2L1LED3_1R1RES2D1DIODELS1SPEAKER12J2CON2VCC123J3CON3R2RES2123J4CON3A47A48A49A59A60A61A62A63A64A65A66A67A68A54A55210攔柵控制電路電路主要是G8505進機驅(qū)動電路，G11013G1122攔柵G7389一定的重G18339，所G1209驅(qū)動電動機的驅(qū)動G2159G4613G5529G20047G3835，因G8504G18331用驅(qū)動G2159G3835的G999用G14467片G47298G49來驅(qū)動。G1866原G10714圖如圖210所示。A17A18A19A20A21A22A23A24A25A26A27A28A18A29A30A31A32A33A34A35A23A36A37A40A40A42A43A44A45A4613SEA1OUT12OUT23VS4INT15ENA6INT27GND8VSS9INT310INT412OUT313OUT414SEB15ENB11U4L298VCCR131R/2WR141R/2W12V12345J10C6104D9IN4007D13IN4007D14IN4007D15IN4007D16IN4007D10IN4007D11IN4007D12IN400712V12VC71041234J8CON412J7CON2VCC12J9CON2VCC12VD0D1D2D3A47A48A49A69A70A71A72A73A74A51A75211車速檢測模塊電路在車軸G990固定安裝一對紅外對管，在車輪圓G2620G990粘貼一段白紙條。G5415車輪轉(zhuǎn)動時，遮光條G17902過紅外對管，使G1866得到G17902G7041G11468間的G20652低電G5191G1461G2507。得到的G1461G2507經(jīng)過G11013G47M393G13464G6116的過壓比較G3132，使輸出電壓規(guī)G14551到兩個G7643準(zhǔn)G1552，在G2469G17877至單片機分析G3800G10714，G1209G4466G10628車速和薄鐵片距G12175的計算。G1867體路如圖211所示。設(shè)計中，G6117G1216G4570紅外對管安裝在后輪G990，因G1038前輪要G4448G6116轉(zhuǎn)彎的G2163能，如G7536G4570紅外對管安裝在前輪，轉(zhuǎn)彎的靈活G5627G4613變差G1114，而G1000測的G6980據(jù)不夠準(zhǔn)確。D1LEDQ1PNPPHOTOQ39013Q29013R450KR5300KR11KR210KR351K12U1A40106VCCOUT123J1CON3A76A77A78A79A79A80A81A82A83A84A85A86A87A88A76第3節(jié)系統(tǒng)的軟件設(shè)計A89A90A91A92A93A94A95A96A97A98A99A100A90A101A102A103A104A105A106A107A95A108A109A110A110A111A112A113A114A11514系統(tǒng)軟G1226設(shè)計主要G2265括主程序設(shè)計，小車驅(qū)動子程序設(shè)計，顯示子程序。31系統(tǒng)主程序設(shè)計A116A117A118A119A120A121A122A123A121A116根據(jù)設(shè)計要求，G2499得本系統(tǒng)的程序G8981程圖如圖31所示。本系統(tǒng)的控制G3132G18331用常用的G36G5589C51，因G1038控制小車比較模塊G2282，所G1209使用匯編G16833言進行軟G1226編寫。A124A125A126A127A128A129A130A131A132A133A134A135A125A136A137A138A139A140A141A142A143A144A145A146A146A147A148A149A150A1511512864G708帶字庫漢字顯示演示程序G709RSEG52UP20RWEG52UP21EEG52UP22PSBEG52UP23DG44BG44G55P24DS18B20輸入端RSG55EG52UP25DG44R_RDEG52UP30COUG49G55EG52U31G43G47CD_DG36G55G36EG52U36G43G47CD_DG36G55G361EG52U37G43G47CD_DG36G55G362EG52U38G43SG55OREEG52U39G43DG36G55EG52U2EG43DS18B20G451G451液G7242G6980據(jù)暫存G55EMPG43EG52U3G36G43G55EMPG47EG52U3BG43ORG0000G43G47JMPSG55G36RG55ORG001BG43G47JMPG55G44M1ORG0100G43SG55G36RG55MOG57SPG1570G43MOG572G36G43G1500G990G2331時間用定時G31322MOG572BG43G1500G20652G5242MOG572CG43G1500MOG5720G43G1500儲存G990G2331時間MOG5721G43G1500MOG5740G43G1500儲存G990G2331G20652G5242MOG5741G43G1500MOG5742G43G1500MOG5743G43G1500MOG57G55EMPG43G1500G43MOG57G55EMPG47G1500G43A152A153A154A155A156A157A143A158A159A160A161A162A153A163A164A165A139A140A141A142A143A144A145A146A146A147A148A149A150A15116SE