摘要：本次课题主要是设计出带有蓝牙操控功能和超声波自动避障功能的履带式小车。控制系统以51单片机为主控芯片，蓝牙无线遥控模块、超声波发射与接收模块、PWM调速模块等构成外围扩展电路。主要设计内容是将四轮小车机械结构与控制程序和相关电路相结合，制作多功能机器人小车。对各功能模块进行软件的编写，了解蓝牙串口通信的方式，对超声波测距计算进行分析，以及在这两种不同的功能实现程序里加入PWM调速的模拟调制，使小车不是在全速状态下而是在设定的速度下行驶。本次项目里，基本实现了履带式小车使用手机端进行蓝牙远程操控，实现了小车自动进行避障行驶，并优化了小车在蓝牙操控下转弯时原地打转的问题。此类功能产品已经开始应用在无人汽车和各种工业操作危险系数较大的作业中，智能化的小车能帮助人类完成很多高难度工作，在危险环境作业、人员搜救等应用中可发挥特殊的作用。通过本次课题，我对单片机的知识进行了拓展，学会单片机与蓝牙模块的通信、与超声波模块的通信，对PWM的模拟调制进行了解和应用。62186

毕业论文关键词：51单片机；蓝牙遥控；超声波模块；PWM调速

Abstract：This topic is mainly designed with the Bluetooth control function and ultrasonic automatic obstacle avoidance function of the crawler type car. Control system with 51 single chip as the main control chip, Bluetooth wireless remote control module, ultrasonic transmitter and receiver module, PWM speed control module and other peripheral expansion circuit. The main design content is to combine the mechanical structure and the control program and the related circuit of the four wheel car to make the multi function robot car. The function modules of software language to learn Bluetooth serial communication way, of the ultrasonic ranging calculation were analyzed, and in the two different functions to achieve program with PWM speed control of the analog modulation, the car is not in full swing state but in the set speed driving. In this project, the basic realization of the Bluetooth remote control of tracked vehicle using mobile terminal, to achieve the car automatic obstacle avoidance driving, and optimization of the car in the Bluetooth control turning circles. Such functional products have begun to application in unmanned vehicles and a variety of industrial operations risk coefficient larger operations, the intelligent car can help people do a lot of hard work, in dangerous work environment, search and rescue applications can play a special role. Through this topic, I have to expand the knowledge of single-chip microcomputer, learn the communication between the microcontroller and Bluetooth module, and the communication of the ultrasonic module, the simulation of PWM modulation for understanding and application.

KeyWords:51 single chip microcomputer,Bluetooth remote control,Ultrasonic module,PWM speed regulation

第一章 绪 论 1

1.1 研究目的 1

1.2 研究意义 2

1.2.1加深课堂上的学习 2

1.2.2从理论转为实际运用 2

1.3 发展趋势 3

1.4 工作重点 3

第二章 方案设计与论证 5

2.1 无线遥控模块设计 5

2.2 避障模块设计 6

2.3 调速模块设计 7

2.4总体方案设计 8

第三章 外围设计各模块原理