基于单片机的智能语音小车硬件设计

基于单片机的智能语音小车硬件设计,基于,单片机,智能,语音,小车,硬件,设计 西北工业大学明德学院本科毕业设计论文 英 文 翻 译 系 别 自动化系 专 业 自动化 班 级 191002 学生姓名 吴晗 学 号 103608 指导教师 李雪霞 报告日期 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. 翻译 目前 ，在企业生产技术不断提高、对自动化技术要求不断加深的环境下，智能车辆以及在智能车辆基础上开发出来的产品已成为自动化物流运输、柔性生产组织等系统的关键设备。世界上许多国家都在积极进行智能车辆的研究和开发设计。移动机器人是机器人学中的一个重要分支，出现于20世纪06年代。当时斯坦福研究院(SRI)的Nils Nilssen和charles Rosen等人，在1966年至1972年中研制出了取名shakey的自主式移动机器人，目的是将人工智能技术应用在复杂环境下，完成机器人系统的自主推理、规划和控制。从此，移动机器人从无到有，数量不断增多，智能车辆作为移动机器人的一个重要分支也得到越来越多的关注。  智能小车，是一个集环境感知、规划决策，自动行驶等功能于一体的综合系统，它集中地运用了计算机、传感、信息、通信、导航及白动控制等技术，是典型的高新技术综合体。  智能车辆也叫无人车辆，是一个集环境感知、规划决策和多等级辅助驾驶等功能于一体的综合系统。它具有道路障碍自动识别、自动报警、自动制动、自动保持安全距离、车速和巡航控制等功能。智能车辆的主要特点是在复杂的道路情况下，能自动地操纵和驾驶车辆绕开障碍物并沿着预定的道路(轨迹)行进。智能车辆在原有车辆系统的基础上增加了一些智能化技术设备:   (1)计算机处理系统，主要完成对来自摄像机所获取的图像的预处理、增强、分析、识别等工作;   (2)摄像机，用来获得道路图像信息;   (3)传感器设备，车速传感器用来获得当前车速，障碍物传感器用来获得前方、侧方、后方障碍物等信息。   智能车辆技术按功能可分为三层，即智能感知/预警系统、车辆驾驶系统和全自动操作系统团。上一层技术是下一层技术的基础。三个层次具体如下:   (1)智能感知系统，利用各种传感器来获得车辆自身、车辆行驶的周围环境及 驾驶员本身的状态信息，必要时发出预警信息。主要包括碰撞预警系统和驾驶员状态监控系统。碰撞预警系统可以给出前方碰撞警告、盲点警告、车道偏离警告、换道/并道警告、十字路口警告、行人检测与警告、后方碰撞警告等.驾驶员状态监控系统 包括驾驶员打吨警告系统、驾驶员位置占有状态监测系统等。   (2)辅助驾驶系统，利用智能感知系统的信息进行决策规划，给驾驶员提出驾驶建议或部分地代替驾驶员进行车辆控制操作。主要包括:巡航控制、车辆跟踪系统、准确泊车系统及精确机动系统。   (3)车辆自动驾驶系统，这是智能车辆技术的最高层次，它由车载计算机全部自动地实现车辆操作功能。目前，主要发展用于拥挤交通时低速自动驾驶系统、近距离车辆排队驾驶系统等。   这种智能小车的主要应用领域包括以下几个方面:  (1)军事侦察与环境探测  现代战争对军事侦察提出了更高的要求，世界各国普遍重视对军事侦察的建设，采取各种有效措施预防敌方的突然袭击，并广泛应用先进科学技术，不断研制多用途的侦察器材和探测 设备，在车上装备摄像机、安全激光测距仪、夜视装置和卫星全球定位仪等设备，通过光缆操纵，完成侦察和监视敌情、情报收集、目标搜索和自主巡逻等任务，进一步扩大侦察的范围，提高侦察的时效性和准确性。  (2)探测危险与排除险情   在战场上或工程中，常常会遇到各种各样的意外。这时，智能化探测小车就会发挥很好的作用。战场上，可以使用智能车辆扫除路边炸弹、寻找和销毁地雷。民用方面，可以探测化学泄漏物质，可以进行地铁灭火，以及在强烈地震发生后到废墟中寻找被埋人员等。   (3)安全检测受损评估   在工程建设领域，可对高速公路自动巡迹，进行道路质量检测和破坏分析检测;对水库堤坝、海岸护岸堤、江河大坝进行质量和安全性检测。在制造领域，可用于工业管道中机械损伤，裂纹等缺陷的探寻，对输油和输气管线的泄漏和破损点的查找和定位等。   (4)智能家居   在家庭中，可以用智能小车进行家具、远程控制家中的家用电器，控制室温等等。对这种小车的研究，将为未来环境探测术上的有力支持。 1.2课题研究的目的和意义   目前，国内外的许多大学及研究机构都在积极投入人力、财力研制开发针对特殊   随着汽车工业的迅速发展，关于汽车的研究也就越来越受人关注。全国电子大赛和省内电子大赛几乎每次都有智能小车这方面的题目，全国各高校也都很重视该题目的研究。可见其研究意义很大。本设计就是在这样的背景下提出的，本题目是结合科研项目而确定的设计类课题。本设计就采用了比较先进的C51为控制核心， C51采用CHOMS工艺，功耗很低。该设计具有实际意义，可以应用于考古、机器人、医疗器械等许多方面。尤其是在足球机器人研究方面具有很好的发展前景；在考古方面也应用到了超声波传感器进行检测。所以本设计与实际相结合，现实意义很强。智能小车国内外研究现状:         世界各国在智能微型车领域进行了很多研究，己经应用于各个领域，在探测和军事领域使用特别多。近年来，我国也开展了很多研究工作，以满足不同用途的需要。 世界各国开发、研制星球探测车系统己经有了多年的历史。美国和前苏联是从20世纪60年代末期开始进行月球表面探测任务的。美国曾在1966^-1968年间，向月球成功发射了两次无人巡游探测器。1997年，由美国JPL(全称JetPropulsion   Laboratory，美国太空总署喷气推进实验室)研制的Sojourner号探测车登上了火星。它验证了小型火星车的性能，并完成了一系列技术试验。2004年1月，美国的“勇气号”和“机遇号”火星探测车再度登陆火星。前苏联在1959^-1976年间，总共成功发射了两个月球探测车。   单片机的应用领域越来越广泛，无论是在生活，生产上，单片机无处不在。ATMEL公司的AT89S51单片机可以广泛应用于计算机外部设备、工业实时控制、仪器仪表、通讯设备、家用电器等各个领域。AT89S51可以说是单片机领域的主流产品 ，其应用如此广泛，所以有 必要去学习和应用该单片机，以满足实际产品开发的需要，也是适应社会智能化、自动化的趋势。   通过构建智能小车系统，培养设计并实现自动控制系统的能力。在实践过程中，熟悉以单片机为核心控制芯片，设计小车的检测、驱动和显示等外围电路，采用智能控制算法实现小车的智能循迹。灵活应用机电等相关学科的理论知识，联系实际电路设计的具体实现方法，达到理论与实践的统一。在此过程中，加深对控制理论的理解和认识。        条件下的安全监测系统。其中包括研究使用远程、无人的方法来进行实现，如机器人、远程监控等。无线传输的发展使得测量变得相对简单而且使得处理数据的速度变得很快甚至可以达到实时处理”。   该智能小车可以作为机器人的典型代表。它可以分为三大组成部分：传感器检测部分、执行部分、CPU。机器人要实现自动避障功能，还可以扩展循迹等功能，感知导引线和障碍物。可以实现小车自动识别路线，选择正确的行进路线，并检测到障碍物自动躲避。   通过构建智能小车系统，培养设计并实现自动控制系统的能力。在实践过程中，熟悉以单片机为核心控制芯片，设计小车的检测、驱动和显示等外围电路，采用智能控制算法实现小车的智能循迹。灵活应用机电等相关学科的理论知识，联系实际电路设计的具体实现方法，达到理论与实践的统一。在此过程中，加深对控制理论的理解和认识。   （一）智能小车的作用和意义    自第一台工业机器人诞生以来，机器人的发展已经遍及机械、电子、冶金、交通、宇航、国防等领域。近年来机器人的智能水平不断提高，并且迅速地改变着人们的生活方式。人们在不断探讨、改造、认识自然的过程中，制造能替代人劳动的机器一直是人类的梦想。  随着科学技术的发展，机器人的感系统，对于视觉的各种技术而言图像处理技术已相当发达，而基于图像的理解技术还很落后，机器视觉需要通过大量的运算也只能识别一些结构化环境简单的目标。视觉传感器的核心器件是摄像管或CCD，目前的CCD已能做到自动聚焦。但CCD传感器的价格、体积和使用方式上并不占优势，因此在不要求清晰图像只需要粗略感觉的系统中考虑使用接近觉传感器是觉传感器种类越来越多，其中视觉传感器成为自动行走和驾驶的重要部件。视觉的典型应用领域为自主式智能导航一种实用有效的方法。  机器人要实现自动导引功能和避障功能就必须要感知导引线和障碍物，感知导引线相当给机器人一个视觉功能。避障控制系统是基于自动导引小车（AVG—auto-guide vehicle）系统，基于它的智能小车实现自动识别路线，判断并自动避开障碍，选择正确的行进路线。使用传感器感知路线和障碍并作出判断和相应的执行动作。  该智能小车可以作为机器人的典型代表。它可以分为三大组成部分：传感器检测部分、CPU、执行部分。机器人要实现自动避障功能，还可以扩展循迹等功能，感知导引线和障碍物。可以实现小车自动识别路线，选择正确的行进路线，并检测到障碍物自动躲避。基于上述要求，传感检测部分考虑到小车一般不需要感知清晰的图像，只要求粗略感知即可，所以可以舍弃昂贵的CCD传感器而考虑使用价廉物美的红外反射式传感器来充当。智能小车的执行部分， 是由直流电机来充当的，主要控制小车的行进方向和速度。单片机驱动直流电机一般有两种方案：第一，勿需占用单片机资源，直接选择有PWM功能的单片机，这样可以实现精确调速；第二，可以由软件模拟PWM输出调制，需要占用单片机资源，难以精确调速，但单片机型号的选择余地较大。考虑到实际情况，本文选择第二种方案。CPU使用STC89C52单片机，配合软件编程实现。   （二）智能小车的现状   现智能小车发展很快，从智能玩具到其它各行业都有实质成果。其基本可实现循迹、避障、检测贴片、寻光入库、避崖等基本功能，这几节的电子设计大赛智能小车又在向声控系统发展。比较出名的飞思卡尔智能小车更是走在前列。我此次的设计主要实现循迹避障这两个功能。   二、方案设计与论证   根据要求，确定如下方案：在现有玩具电动车的基础上，加装光电检测器，实现对电动车的速度、位置、运行状况的实时测量，并将测量数据传送至单片机进行处理，然后由单片机根据所检测的各种数据实现对电动车的智能控制。这种方案能实现对电动车的运动状态进行实时控制，控制灵活、可靠，精度高，可满足对系统的各项要求。