摘要：科技的发展趋势之一就是让几乎所有的东西具备一定的智能。如此智能在一方面可以避免人的复杂性带来的失误，而在另一方面，作为人的能力的延伸，快速、便捷、有效地适应新环境。本课题研究的超声波自动定位的红外避障寻位小车，目的就是让小车具备一定的智能效果，能够作为有人驾驶车辆的一部分，辅助司机更准确的确定位置及提早发现司机还没有发觉的危险。另外，可以应用在无人控制系统里，代替人类完成信息接收、处理和判断，做到远程编程，无人驾驶，具有高智能性、高安全性、高可靠性的完成仓库管理工作。24288
避障是智能小车应具备的基本功能之一，以飞思卡尔MC9S12XS128MAA芯片为核心，通过红外避障传感器采集前方障碍信息并对智能小车来进行掌控，由此设计了智能小车的自动避障的系统，并论述其工作原理。该系统设计较简单、成本较低、实时性较好，在室内环境中取得了预期的实验成效，使智能小车能够没有碰撞的到达目的地。
毕业论文关键词： MC9S12XS128MAA；智能；红外避障传感器；超声波；定位
Design of Automatic Locating Car In Warehouse
Abstract：The one of technology development trend is to make anything have intelligence. This kind of intelligence can help people avoid errors which from complexity, on the other hand, as a extend of human ability adapt environment quickly and convenient. The car which can automatic positioning and avoid obstacle base on ultrasonic and infrared this issue focus is make the car have intelligence. It could be one part of a car to help drivers ensure position more accurate and remind the dangers early. Then, it can be used in unmanned control system. Substitute people receive information and deal with it. This can program remote, unmanned. Have high intelligent, high security and high reliability.
    The obstacle avoidance is one of the main functions that an independently intelligent carriage should be provided. Use the MC9S12XS128MAA as a key component, collecting the environmental information and controlling the intelligent carriage, a kind of obstacle avoidance system of intelligent carriage is designed. In this system, infrared obstacle avoidance sensors are used to detect the barries,which are front of distance between the intelligent carriage and the barriers. The system's design is simple, and has lower cost and better real time features. And at the same time, this system has obtained anticipated experimental results in the indoor environment.
KeyWords：MC9S12XS128MAA;intelligent; Infrared Sensors; Ultrasonic;locate
目  录
1 前言    2
1.1 智能小车研究意义    2
1.2 智能小车的现状    3
1.2.1 国外移动机器人研究    3
1.2.2 国内移动机器人的状况    4
1.2.3 定位避障小车现状综述    4
2 硬件电路    5
2.1 总体设计    5
2.1.1 小车总体概述    5
2.1.2 小车总体设计框图    6
2.2 MC9S12XS128MAA单片机简介    7
2.2.1 mc9s12x系列单片机简介    7
2.2.2 MC9S12XS128MAA性能概述    7
2.2.3 输入/输出数字I/O口    7
2.2.4 输入/输出端口功能和配置    9
2.2.5 电源相关引脚    10
2.2.6 其他引脚    10
2.3 电机驱动模块    10
2.3.1 隔离IC芯片74HC244    10
2.3.2 电机驱动芯片BTS7960    12
2.4 地磁场模块HMC5883    15
2.4.1 HMC5883简介    15
2.4.2 引脚配置    16
2.4.3 寄存器    18 仓库内自动寻位小车的设计+电路图:http://www.751com.cn/zidonghua/lunwen_17731.html