论文总字数：20219字

摘 要

随着当今世界的飞速发展，科技越来越趋近于信息化与自动化。随之而来的是机器人技术的突飞猛进。很多科研机构也研发出不同用途的工业型机器人，并且科学家研究的热点是工业机器人中的至关重要的一个话题——智能型小车。众所周知，智能型小车可以按照人们已设定的程序与步骤去执行相应的行任务，可以帮助人们完成一些人类无法完成的任务，比如说地底勘测、南极勘察等。目前已知的应用中，智能小车主要应用于科技、工厂生产、仓库自动化等领域，因其让人类更加省时，省力而在众多领域发挥很强的优势。

自动往返小车，能够沿着指定的路线自动行驶，面对路线上的障碍物可以实现自动停车报警。该智能小车以Arduino作为控制器，运行轨迹由粘在白色轨道上的黑色导引线构成，小车前底部的红外线传感器系统可准确检测黑色导引线，从而实现更可靠的轨迹跟踪。车头安装的超声波传感器通过探测前方是否有被反射的信号，当达到给定安全距离时停车报警，以实现避障。在工业生产的过程中，因为它具有很好的传输性能，并且由于节约能耗、运输多样化等优点而被广泛运用，大大的提高了生产效率，因此它也被仓储行业以及邮递等场合所热捧。本文在分析研究国内外自动往返小车现状与发展的基础上，以制造成本尽可能低的原则，设计了自动往返小车，其主要工作内容包括小车的总体结构设计、轨迹采样电路，障碍识别电路，以及相应的控制软件和程序设计。

关键词：自动往返小车、循迹、避障

Design of Automatic Car Back and Forth

ABSTRACT

With the development of the world, science and technology are becoming more and more informative and intelligent. What followed was the rapid advancement of robotics. Many scientific research institutions have also developed industrial robots with different uses, and the hotspot of scientists' research is a crucial topic in industrial robots-intelligent cars. As we all know, smart cars can perform the corresponding tasks according to the procedures and steps that people have set, which can help people complete some tasks that humans cannot complete, such as underground surveys and Antarctic surveys. Among the currently known applications, smart cars are mainly used in technology, factory production, warehouse automation and other fields. Because they make humans more time-saving and labor-saving, they play a strong advantage in many fields.

The intelligent car can automatically drive along the designated route, and can realize automatic parking alarm when the car encounters obstacles during driving. The smart car uses Arduino as a controller, and the running track is composed of black guide wires stuck on the white track. The infrared sensor system on the front bottom of the car can accurately detect the black guide wires, thereby achieving more reliable track tracking. The ultrasonic sensor installed in the front of the vehicle detects the reflected signal in front of the vehicle, and stops and alarms when a given safety distance is reached to avoid obstacles. In industrial production, smart cars have been widely used due to their good transmission performance. It has greatly improved production efficiency, so it has also been used in warehousing industry and postal delivery. Research the development of smart cars at home and abroad, and try to reduce production costs. And the corresponding control software and programming.

Key words: Automatic shuttle car, tracking, obstacle avoidance

目录

摘要 I

ABSTRACT II

第一章 绪论 1

1.1研究背景 1

1.2研究目的和意义 1

1.2.1研究目的 1

1.2.2研究意义 2

1.3国内外研究现状 2

1.3.1国外研究现状 2

1.3.2国内研究现状 2

1.4论文的研究内容 3

第二章 硬件设计 6

2.1小车结构 6

2.2 Arduino开发板 7

2.3 小车电机驱动模块 7

2.4 小车舵机模块 8

2.5红外传感器 8

2.5.1 红外传感器的结构 8

2.5.2红外传感器反射原理 9

2.5.3红外传感器优劣势 11

2.6超声波测距模块 11

2.6.1超声波传感器的结构 11

2.6.2超声波模块测距原理 13

2.6.3超声波传感器优劣势 14

2.7 RGB LED 14

2.8 蜂鸣器 18

2.8.1 蜂鸣器发声原理 18

2.9 小车电源模块 20

2.10 本章小结 20

第三章 软件设计 23

3.1 系统的总体结构 23

3.2 Arduino图形化编程 23

3.3 系统硬件线路连接 24

3.4自动模式流程图 26

3.5 小车循迹流程图 27

3.6中断控制流程图 28

3.7本章小结 29

第四章 系统实现与测试 30

4.1 智能小车实物设计 30

4.2 系统测试 30

4.2.1 测试结果及性能分析 30

4.2.2 数据采集单元的测试 31

4.3测试过程及结果 35

4.4 本章小结 36

第五章 经济性分析 38

总结 38

参考文献 39

致谢 41

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