摘要本系统采用两个直流电机驱动小车的后轮，前轮采用万向轮；用反射式红外光电发射接收器（红外对管）识别行驶轨道的黑色引导线。以STC12C5A60S2为控制核心，对寻迹模块、测速模块和机械手模块的输出信号进行处理。通过相应算法，利用转向电机控制小车行驶方向，利用PWM技术动态控制两个直流电机的转速，使小车进行全方向的行驶，并能自动停止，通过双MCU的连接使机械手工作。

设计采用对比论证选择，模块独立，综合处理的研究方法。通过翻阅大量的相关文献资料，分析整理出有关信息，在此基础上列出不同的解决方案，结合实际情况对比方案优劣选出最优方案进行设计。最后将各个调试成功的模块结合到小车的车体上，结合程序，通过单片机的控制，将各模块有效的整合在一起，达到所预期的目标，完成最终设计与制作。49498

毕业论文关键词：寻迹；单片机；PWM；机械手

Abstract The system adopted the two rear DC motor-driven car,the front wheel castor wheels;use reflective infrared optical transmitter-receiver(infrared control) to identify the black guide lines running track.To STC12C5A60S2 as the control center of the tracing module ，speed module and manipulator module output signal processing.Through the appropriate algorithm,using steering motor control car driving direction,using PWM technology dynamic control two DC motor speed,make the car on the omni-directional driving,and can automatically stop, through the double MCU connection make manipulator work.

In this paper, the research methods consist of demonstrative comparison analysis which studies the independent module in comprehensive way. Some information is available by searching on a large number of relevant documents and materials and on which different solutions will be obtained. Combined with the actual situation, the better one will be selected for designing. Then combine the various debugging module with the body of the car effectively through the control of the control of the microcontroller and the program, in that way the final design and production will be made.

Keywords:Tracing;SCM;PWM;manipulator

目录

第一章 绪论 1

1.1 前言 1

1.2 课题研究的背景和意义 1

1.2.1 题目背景 1

1.2.2 研究意义 2

1.3 国内外相关研究情况 2

1.4 课题研究的主要内容 4

1.5 本章小结 5

第二章 系统方案论证与选择 6

2.1系统方案论证及选择 6

2.1.1控制器模块论证与选择 6

2.1.2电源模块论证与选择 7

2.1.3电机的论证与选择 7

2.1.4电机驱动模块论证与选择 8

2.1.5寻迹模块选择与论证 8

2.1.6测速模块的选择与论证 9

2.1.7 机械手模块论证与选择 10

2.1.8机械手控制器选择与论证 11

2.1.9本系统最终方案 11

2.2本章小结 12

第三章 系统硬件电路设计 13

3.1单片机电路设计 13 单片机机器人搬运小车控制系统的硬件设计+CAD图纸:http://www.751com.cn/jixie/lunwen_52484.html