基于單片機的智能語音小車硬件設(shè)計

基于單片機的智能語音小車硬件設(shè)計,基于,單片機,智能,語音,小車,硬件,設(shè)計 西北工業(yè)大學(xué)明德學(xué)院本科畢業(yè)設(shè)計論文 英 文 翻 譯 系 別 自動化系 專 業(yè) 自動化 班 級 191002 學(xué)生姓名 吳晗 學(xué) 號 103608 指導(dǎo)教師 李雪霞 報告日期 2014.6.10 原文 At present, the enterprise production technology constantly improving, the deepening environment to automation technology requirement, intelligent vehicle, and on the basis of intelligent vehicle developed products have become automated logistics transportation, flexible production organization system of key equipment. Many countries in the world are actively in research and development of intelligent vehicle design. Mobile robot is an important branch of robotics, appeared in the 1906 s. At the Stanford research institute (SRI) Nils Nilssen and Charles Rosen, from 1966 to 1966 years to develop the autonomous mobile robot named shakey, the purpose is to apply artificial intelligence technology in complex environment, complete robot autonomous reasoning, planning and control system. From then on, the mobile robot from scratch, increasing number of intelligent vehicle as an important branch of mobile robot has been more and more attention. Smart car, is a collection of environment perception, planning decisions, such as automatic driving function in an integrated system, it is concentrated, to use the computer, sensor, information, communication, navigation and dynamic control technology such as white, is a typical combination of new and high technology. Intelligent vehicle is also called the unmanned vehicle, is a collection of environment perception, planning, decision-making and multi-scale auxiliary driving, and other functions in a body's comprehensive system. It has the automatic identification of road barriers, automatic alarm, automatic braking, keep a safe distance, speed and automatic cruise control, and other functions. The main characteristics of intelligent vehicle is under complex road conditions, can automatically controlling and driving around obstacles and travel along a predetermined path (path). Intelligent vehicle on the basis of the original vehicle system with some intelligent technology equipment: (1) computer processing system, the main completed for the pretreatment of the image captured from camera, enhancement, analysis, identification and so on work; (2) the camera, used to get road image information; (3) sensor devices, the speed sensor is used to get the current speed, obstacle sensors used to get the information such as the front, side and rear obstacles. Intelligent vehicle technology according to the function can be divided into three layers, namely the intellisense/early warning system, driving system and fully automatic operating system. On a layer of technology is the foundation of the next layer of technology. The three levels of specific as follows: (1) intelligent perception system, use a variety of sensors to obtain the vehicle itself, vehicle traffic environment and driver itself state information, the warning information when necessary. Mainly includes collision warning system and driver condition monitoring system. Collision warning system can give the front collision warning, blind spot warning, lane departure warning, lane changing/warning and warning, crossing, pedestrian detection and warning, rear collision warning, etc. The driver condition monitoring system Tons of warning system, pilot position including driver play possession state monitoring system, etc. (2) the auxiliary driving system, use information to make decisions planning intellisense system and give the driver driving Suggestions or partially replace the driver control the vehicle operation. Mainly includes: cruise control, vehicle tracking system, parking system and precise motor system accurately. (3) vehicle automated driving system, it is the highest level of intelligent vehicle technology, it is made up of all on-board computer automatically realize vehicle operation function. At present, the main development autopilot system at low speed when used in crowded traffic, close vehicle queue driving system, etc. The smart car's main application areas include the following aspects: (1) detection of modern war military reconnaissance and environment puts forward higher requirements on military reconnaissance, paid attention to by all countries in the world for the construction of military reconnaissance, take various effective measures to prevent the enemy's raid, and wide application of advanced science and technology, continuously develop multi-purpose detection equipment and detection Equipment, equipped with a camera in the car, safe and laser range finder, night vision devices and equipment such as satellite global positioning receiver, manipulation by cables, reconnaissance and surveillance enemy, intelligence gathering, and independent patrol target search tasks, such as to further expand the range of reconnaissance, improve the timeliness and accuracy of detection. (2) detecting danger and eliminate risk On the battlefield or in the engineering, often will encounter all sorts of accidents. At this time, the intelligent detecting car will play a good role. The battlefield, you can use the intelligent vehicle cleaning roadside bombs, seek and destroy mines. Civil aspect, can detect chemical leakage, can undertake the subway fire, and after a strong earthquake occurred to the debris for buried personnel, etc. (3) the safety inspection damage assessment In the field of engineering construction, to the highway automatic cruise, road quality testing and failure analysis; Of reservoir DAMS, coast revetment dike for quality and safety testing, rivers and DAMS. In the field of manufacturing, can be used in industrial pipeline mechanical damage, defects such as cracks, seeking for oil and gas pipeline leak and damage point searching and positioning. (4) the smart home In the family, you can use smart cars to furniture, remote control of home appliances, room temperature control, and so on. The study of this kind of car, the strong support on the environmental detection technique for the future. 1.2 the purpose and significance of the thesis At present, many universities and research institutions at home and abroad are engaged in research and development of human and financial resources for special 1.3.2 the meaning of this design With the rapid development of automobile industry, the research about the car is also more and more attention by people. National competition and the province of electronic series intelligent car almost every time this aspect of the topic, the national universities are also attaches great importance to research of the subject. See its research significance. This design is put forward in this background, this topic is combined with scientific research projects and determine the design of the class. This design has adopted more advanced C51 as the control core, CHOMS technology on C51, low power consumption. Practical significance for the design, can be used in the archaeological, robotics, medical equipment and many other aspects. Especially in soccer robot research has the very good prospects for development; In archaeology is applied to detect ultrasonic sensors. So this design combined with practical, strong practical significance. Smart car research status at home and abroad: Countries around the world in the field of intelligent mini conducted a lot of research, has been applied in various fields, in the field of detection and military use. In recent years, our country also carried out a lot of research work, in order to meet the needs of different USES. The world development, planet rover system has had many years of history. The United States and the Soviet union from the late 1960 s to the surface of the moon mission. The United States in 1966 ^ - 1968, to the moon successfully launched two unmanned cruise detector. In 1997, by the JPL (full name JetPropulsion That NASA's jet propulsion Laboratory) develop the Sojourner rover landed on Mars. It verify the performance of small rovers, and completed a series of technical test. In January 2004, the United States of \"spirit\" and \"opportunity\" Mars rover to Mars again. The former Soviet union in 1959 ^ - 1976, a total of successfully launched two lunar rover. MCU application field is more and more widely, both in life and production, the microcontroller is everywhere. ATMEL company AT89S51 can be widely applied to real time computer peripheral equipment, industrial control, instrumentation, communications equipment, household appliances and other fields. AT89S51 can be said to be the mainstream products in the field of single chip, its application is so widespread, so there is Necessary to study and application of the single chip microcomputer, in order to meet the needs of the actual product development, and adapt to the trend of the social intelligence and automation. By building the smart car system, cultivate the ability to design and realize the automatic control system. In the process of practice, familiar with the single chip processor as the core control chip, and design the car detection, drive and display peripheral circuit, such as intelligent control algorithm was adopted to realize the car intelligent tracking. Flexible application of mechanical and electrical or related discipline theory knowledge, contact the actual concrete realization method of the circuit design, to achieve the unification of the theory and practice. In the process, deepen their understanding and awareness of the control theory. Under the condition of safety monitoring system. Including research using remote, no one way to implement, such as robots, remote monitoring, etc. The development of the wireless transmission makes the measurement is relatively simple and makes the speed of processing data quickly and even can achieve real-time processing \". The smart car can be used as a typical representative of the robot. It can be divided into three parts: sensor detecting part, execute part and the CPU. Robot to realize automatic obstacle avoidance function, can also extend the function such as tracking, perception guide line and obstacles. Can realize automatic identification of car route, choosing the correct route, and detect obstacles automatically. By building the smart car system, cultivate the ability to design and realize the automatic control system. In the process of practice, familiar with the single chip processor as the core control chip, and design the car detection, drive and display peripheral circuit, such as intelligent control algorithm was adopted to realize the car intelligent tracking. Flexible application of mechanical and electrical or related discipline theory knowledge, contact the actual concrete realization method of the circuit design, to achieve the unification of the theory and practice. In the process, deepen their understanding and awareness of the control theory. (a) the function and significance of the smart car Since the first industrial robot was born, the development of robots has been in machinery, electronics, metallurgy, transportation, aerospace, defense and other fields. In recent years, the robot's intelligence level enhances unceasingly, and quickly changing the way people live. People constantly explore, in the process of transformation, the nature, make machine can replace the human labor has been the dream of human beings. With the development of science and technology, robot system, for various techniques of visual image processing technology is developed, and based on the backward image understanding technology, machine vision need to through a lot of operation can only identify some simple structured environment goals. Visual sensor at the core of the device is a tube or CCD, the CCD has been able to achieve automatic focusing. But the price of CCD sensor, and the way of using volume is weak, therefore does not require a clear image only need a rough feeling are considered in use close to the sensor system is more and more types of sensor, including visual sensor automatic walking and become an important part of a drive. Typical applications for the intelligent navigation of autonomous visual a practical and effective method. Robot to realize automatic guiding function and obstacle avoidance function must be perception guide line and obstacles, rather give robots a visual perception guide line function. Obstacle avoidance control system is based on automatic guided vehicles (AVG - auto - guide vehicle) system, based on the smart car to realize automatic identification, judgment and automatically avoid obstacles, choosing the right path. Use sensors to route and obstacles and make a judgment and the corresponding action. The smart car can be used as a typical representative of the robot. It can be divided into three major components: sensors, CPU, executive part. Robot to realize automatic obstacle avoidance function, can also extend the function such as tracking, perception guide line and obstacles. Can realize automatic identification of car route, choosing the correct route, and detect obstacles automatically. Based on the above requirements, sensing detection part considering the car generally do not need to be perceived image, requires only a rough perception can, so I can give away expensive CCD sensor and consider using reflecting type of infrared sensor to act as a cheap and fine. Perform part of the smart car, Is to act as by a dc motor, the main control the direction and speed of the car. Microcontroller driven dc motor generally have two options: first, there is no need to occupy single-chip computer resources, directly choose PWM function of MCU, so that we can achieve precise control of motor speed; Second, can by the software simulation output PWM modulation, taking single chip microcomputer resources, difficult to precise control of motor speed, but the single-chip computer models of choice. Considering the actual situation, this article choose the second solution. CPU usage STC89C52 singlechip, cooperate with software programming realization. (2) the present situation of the smart car Now the smart car development soon, from smart toys to other industries have substantial results. The basic tracking can be realized, obstacle avoidance, test strips, optical storage, the basic function such as from the cliff, the sections of the electronic design contest intelligent car again in to the voice control system development. Well-known freescale intelligence car is at the forefront. I this design is mainly to realize tracking obstacle avoidance of these two functions. Second, the scheme design and demonstration According to requirements, the following solutions: on the basis of the existing electric toys, equipped with photoelectric detector, realize the running status of electric vehicle speed, position, real time measurement, and will measure data transfer to the single chip microcomputer for processing, then the detection by the microcontroller based on various data to realize intelligent control of electric vehicle. This scheme can realize real-time motion control in the electric control flexible, reliable, high precision and can meet the requirements of the system. 翻譯 目前?，在企業(yè)生產(chǎn)技術(shù)不斷提高、對自動化技術(shù)要求不斷加深的環(huán)境下，智能車輛以及在智能車輛基礎(chǔ)上開發(fā)出來的產(chǎn)品已成為自動化物流運輸、柔性生產(chǎn)組織等系統(tǒng)的關(guān)鍵設(shè)備。世界上許多國家都在積極進行智能車輛的研究和開發(fā)設(shè)計。移動機器人是機器人學(xué)中的一個重要分支，出現(xiàn)于20世紀06年代。當(dāng)時斯坦福研究院(SRI)的Nils?Nilssen和charles?Rosen等人，在1966年至1972年中研制出了取名shakey的自主式移動機器人，目的是將人工智能技術(shù)應(yīng)用在復(fù)雜環(huán)境下，完成機器人系統(tǒng)的自主推理、規(guī)劃和控制。從此，移動機器人從無到有，數(shù)量不斷增多，智能車輛作為移動機器人的一個重要分支也得到越來越多的關(guān)注。??智能小車，是一個集環(huán)境感知、規(guī)劃決策，自動行駛等功能于一體的綜合系統(tǒng)，它集中地運用了計算機、傳感、信息、通信、導(dǎo)航及白動控制等技術(shù)，是典型的高新技術(shù)綜合體。??智能車輛也叫無人車輛，是一個集環(huán)境感知、規(guī)劃決策和多等級輔助駕駛等功能于一體的綜合系統(tǒng)。它具有道路障礙自動識別、自動報警、自動制動、自動保持安全距離、車速和巡航控制等功能。智能車輛的主要特點是在復(fù)雜的道路情況下，能自動地操縱和駕駛車輛繞開障礙物并沿著預(yù)定的道路(軌跡)行進。智能車輛在原有車輛系統(tǒng)的基礎(chǔ)上增加了一些智能化技術(shù)設(shè)備:?? (1)計算機處理系統(tǒng)，主要完成對來自攝像機所獲取的圖像的預(yù)處理、增強、分析、識別等工作;?? (2)攝像機，用來獲得道路圖像信息;?? (3)傳感器設(shè)備，車速傳感器用來獲得當(dāng)前車速，障礙物傳感器用來獲得前方、側(cè)方、后方障礙物等信息。?? 智能車輛技術(shù)按功能可分為三層，即智能感知/預(yù)警系統(tǒng)、車輛駕駛系統(tǒng)和全自動操作系統(tǒng)團。上一層技術(shù)是下一層技術(shù)的基礎(chǔ)。三個層次具體如下:?? (1)智能感知系統(tǒng)，利用各種傳感器來獲得車輛自身、車輛行駛的周圍環(huán)境及?駕駛員本身的狀態(tài)信息，必要時發(fā)出預(yù)警信息。主要包括碰撞預(yù)警系統(tǒng)和駕駛員狀態(tài)監(jiān)控系統(tǒng)。碰撞預(yù)警系統(tǒng)可以給出前方碰撞警告、盲點警告、車道偏離警告、換道/并道警告、十字路口警告、行人檢測與警告、后方碰撞警告等.駕駛員狀態(tài)監(jiān)控系統(tǒng)?包括駕駛員打噸警告系統(tǒng)、駕駛員位置占有狀態(tài)監(jiān)測系統(tǒng)等。?? (2)輔助駕駛系統(tǒng)，利用智能感知系統(tǒng)的信息進行決策規(guī)劃，給駕駛員提出駕駛建議或部分地代替駕駛員進行車輛控制操作。主要包括:巡航控制、車輛跟蹤系統(tǒng)、準確泊車系統(tǒng)及精確機動系統(tǒng)。?? (3)車輛自動駕駛系統(tǒng)，這是智能車輛技術(shù)的最高層次，它由車載計算機全部自動地實現(xiàn)車輛操作功能。目前，主要發(fā)展用于擁擠交通時低速自動駕駛系統(tǒng)、近距離車輛排隊駕駛系統(tǒng)等。?? 這種智能小車的主要應(yīng)用領(lǐng)域包括以下幾個方面: ?(1)軍事偵察與環(huán)境探測??現(xiàn)代戰(zhàn)爭對軍事偵察提出了更高的要求，世界各國普遍重視對軍事偵察的建設(shè)，采取各種有效措施預(yù)防敵方的突然襲擊，并廣泛應(yīng)用先進科學(xué)技術(shù)，不斷研制多用途的偵察器材和探測 設(shè)備，在車上裝備攝像機、安全激光測距儀、夜視裝置和衛(wèi)星全球定位儀等設(shè)備，通過光纜操縱，完成偵察和監(jiān)視敵情、情報收集、目標搜索和自主巡邏等任務(wù)，進一步擴大偵察的范圍，提高偵察的時效性和準確性。??(2)探測危險與排除險情?? 在戰(zhàn)場上或工程中，常常會遇到各種各樣的意外。這時，智能化探測小車就會發(fā)揮很好的作用。戰(zhàn)場上，可以使用智能車輛掃除路邊炸彈、尋找和銷毀地雷。民用方面，可以探測化學(xué)泄漏物質(zhì)，可以進行地鐵滅火，以及在強烈地震發(fā)生后到廢墟中尋找被埋人員等。?? (3)安全檢測受損評估?? 在工程建設(shè)領(lǐng)域，可對高速公路自動巡跡，進行道路質(zhì)量檢測和破壞分析檢測;對水庫堤壩、海岸護岸堤、江河大壩進行質(zhì)量和安全性檢測。在制造領(lǐng)域，可用于工業(yè)管道中機械損傷，裂紋等缺陷的探尋，對輸油和輸氣管線的泄漏和破損點的查找和定位等。? ?(4)智能家居?? 在家庭中，可以用智能小車進行家具、遠程控制家中的家用電器，控制室溫等等。對這種小車的研究，將為未來環(huán)境探測術(shù)上的有力支持。?1.2課題研究的目的和意義?? 目前，國內(nèi)外的許多大學(xué)及研究機構(gòu)都在積極投入人力、財力研制開發(fā)針對特殊?? 隨著汽車工業(yè)的迅速發(fā)展，關(guān)于汽車的研究也就越來越受人關(guān)注。全國電子大賽和省內(nèi)電子大賽幾乎每次都有智能小車這方面的題目，全國各高校也都很重視該題目的研究?？梢娖溲芯恳饬x很大。本設(shè)計就是在這樣的背景下提出的，本題目是結(jié)合科研項目而確定的設(shè)計類課題。本設(shè)計就采用了比較先進的C51為控制核心，?C51采用CHOMS工藝，功耗很低。該設(shè)計具有實際意義，可以應(yīng)用于考古、機器人、醫(yī)療器械等許多方面。尤其是在足球機器人研究方面具有很好的發(fā)展前景；在考古方面也應(yīng)用到了超聲波傳感器進行檢測。所以本設(shè)計與實際相結(jié)合，現(xiàn)實意義很強。智能小車國內(nèi)外研究現(xiàn)狀:???????? 世界各國在智能微型車領(lǐng)域進行了很多研究，己經(jīng)應(yīng)用于各個領(lǐng)域，在探測和軍事領(lǐng)域使用特別多。近年來，我國也開展了很多研究工作，以滿足不同用途的需要。?世界各國開發(fā)、研制星球探測車系統(tǒng)己經(jīng)有了多年的歷史。美國和前蘇聯(lián)是從20世紀60年代末期開始進行月球表面探測任務(wù)的。美國曾在1966^-1968年間，向月球成功發(fā)射了兩次無人巡游探測器。1997年，由美國JPL(全稱JetPropulsion?? Laboratory，美國太空總署噴氣推進實驗室)研制的Sojourner號探測車登上了火星。它驗證了小型火星車的性能，并完成了一系列技術(shù)試驗。2004年1月，美國的“勇氣號”和“機遇號”火星探測車再度登陸火星。前蘇聯(lián)在1959^-1976年間，總共成功發(fā)射了兩個月球探測車。?? 單片機的應(yīng)用領(lǐng)域越來越廣泛，無論是在生活，生產(chǎn)上，單片機無處不在。ATMEL公司的AT89S51單片機可以廣泛應(yīng)用于計算機外部設(shè)備、工業(yè)實時控制、儀器儀表、通訊設(shè)備、家用電器等各個領(lǐng)域。AT89S51可以說是單片機領(lǐng)域的主流產(chǎn)品?，其應(yīng)用如此廣泛，所以有 必要去學(xué)習(xí)和應(yīng)用該單片機，以滿足實際產(chǎn)品開發(fā)的需要，也是適應(yīng)社會智能化、自動化的趨勢。?? 通過構(gòu)建智能小車系統(tǒng)，培養(yǎng)設(shè)計并實現(xiàn)自動控制系統(tǒng)的能力。在實踐過程中，熟悉以單片機為核心控制芯片，設(shè)計小車的檢測、驅(qū)動和顯示等外圍電路，采用智能控制算法實現(xiàn)小車的智能循跡。靈活應(yīng)用機電等相關(guān)學(xué)科的理論知識，聯(lián)系實際電路設(shè)計的具體實現(xiàn)方法，達到理論與實踐的統(tǒng)一。在此過程中，加深對控制理論的理解和認識。??????? 條件下的安全監(jiān)測系統(tǒng)。其中包括研究使用遠程、無人的方法來進行實現(xiàn)，如機器人、遠程監(jiān)控等。無線傳輸?shù)陌l(fā)展使得測量變得相對簡單而且使得處理數(shù)據(jù)的速度變得很快甚至可以達到實時處理”。?? 該智能小車可以作為機器人的典型代表。它可以分為三大組成部分：傳感器檢測部分、執(zhí)行部分、CPU。機器人要實現(xiàn)自動避障功能，還可以擴展循跡等功能，感知導(dǎo)引線和障礙物?？梢詫崿F(xiàn)小車自動識別路線，選擇正確的行進路線，并檢測到障礙物自動躲避。?? 通過構(gòu)建智能小車系統(tǒng)，培養(yǎng)設(shè)計并實現(xiàn)自動控制系統(tǒng)的能力。在實踐過程中，熟悉以單片機為核心控制芯片，設(shè)計小車的檢測、驅(qū)動和顯示等外圍電路，采用智能控制算法實現(xiàn)小車的智能循跡。靈活應(yīng)用機電等相關(guān)學(xué)科的理論知識，聯(lián)系實際電路設(shè)計的具體實現(xiàn)方法，達到理論與實踐的統(tǒng)一。在此過程中，加深對控制理論的理解和認識。?? （一）智能小車的作用和意義??? 自第一臺工業(yè)機器人誕生以來，機器人的發(fā)展已經(jīng)遍及機械、電子、冶金、交通、宇航、國防等領(lǐng)域。近年來機器人的智能水平不斷提高，并且迅速地改變著人們的生活方式。人們在不斷探討、改造、認識自然的過程中，制造能替代人勞動的機器一直是人類的夢想。??隨著科學(xué)技術(shù)的發(fā)展，機器人的感系統(tǒng)，對于視覺的各種技術(shù)而言圖像處理技術(shù)已相當(dāng)發(fā)達，而基于圖像的理解技術(shù)還很落后，機器視覺需要通過大量的運算也只能識別一些結(jié)構(gòu)化環(huán)境簡單的目標。視覺傳感器的核心器件是攝像管或CCD，目前的CCD已能做到自動聚焦。但CCD傳感器的價格、體積和使用方式上并不占優(yōu)勢，因此在不要求清晰圖像只需要粗略感覺的系統(tǒng)中考慮使用接近覺傳感器是覺傳感器種類越來越多，其中視覺傳感器成為自動行走和駕駛的重要部件。視覺的典型應(yīng)用領(lǐng)域為自主式智能導(dǎo)航一種實用有效的方法。??機器人要實現(xiàn)自動導(dǎo)引功能和避障功能就必須要感知導(dǎo)引線和障礙物，感知導(dǎo)引線相當(dāng)給機器人一個視覺功能。避障控制系統(tǒng)是基于自動導(dǎo)引小車（AVG—auto-guide?vehicle）系統(tǒng)，基于它的智能小車實現(xiàn)自動識別路線，判斷并自動避開障礙，選擇正確的行進路線。使用傳感器感知路線和障礙并作出判斷和相應(yīng)的執(zhí)行動作。??該智能小車可以作為機器人的典型代表。它可以分為三大組成部分：傳感器檢測部分、CPU、執(zhí)行部分。機器人要實現(xiàn)自動避障功能，還可以擴展循跡等功能，感知導(dǎo)引線和障礙物?？梢詫崿F(xiàn)小車自動識別路線，選擇正確的行進路線，并檢測到障礙物自動躲避?；谏鲜鲆?，傳感檢測部分考慮到小車一般不需要感知清晰的圖像，只要求粗略感知即可，所以可以舍棄昂貴的CCD傳感器而考慮使用價廉物美的紅外反射式傳感器來充當(dāng)。智能小車的執(zhí)行部分， 是由直流電機來充當(dāng)?shù)?，主要控制小車的行進方向和速度。單片機驅(qū)動直流電機一般有兩種方案：第一，勿需占用單片機資源，直接選擇有PWM功能的單片機，這樣可以實現(xiàn)精確調(diào)速；第二，可以由軟件模擬PWM輸出調(diào)制，需要占用單片機資源，難以精確調(diào)速，但單片機型號的選擇余地較大。考慮到實際情況，本文選擇第二種方案。CPU使用STC89C52單片機，配合軟件編程實現(xiàn)。?? （二）智能小車的現(xiàn)狀?? 現(xiàn)智能小車發(fā)展很快，從智能玩具到其它各行業(yè)都有實質(zhì)成果。其基本可實現(xiàn)循跡、避障、檢測貼片、尋光入庫、避崖等基本功能，這幾節(jié)的電子設(shè)計大賽智能小車又在向聲控系統(tǒng)發(fā)展。比較出名的飛思卡爾智能小車更是走在前列。我此次的設(shè)計主要實現(xiàn)循跡避障這兩個功能。?? 二、方案設(shè)計與論證?? 根據(jù)要求，確定如下方案：在現(xiàn)有玩具電動車的基礎(chǔ)上，加裝光電檢測器，實現(xiàn)對電動車的速度、位置、運行狀況的實時測量，并將測量數(shù)據(jù)傳送至單片機進行處理，然后由單片機根據(jù)所檢測的各種數(shù)據(jù)實現(xiàn)對電動車的智能控制。這種方案能實現(xiàn)對電動車的運動狀態(tài)進行實時控制，控制靈活、可靠，精度高，可滿足對系統(tǒng)的各項要求。