摘要本循迹小车采用现在较为流行的8位单片机作为系统大脑，以STC89C52单片机为控制核心。用其控制行进中的小车，以实现其既定的性能指标。充分分析我们的系统，其关键在于实现小车的自动控制，而在这一点上，单片机就显现出来它的优势控制简单、方便、快捷。40脚的DIP封装使它拥有32个完全IO(GPIO-通用输入输出)端口，通过这些端口加以信号输入电路，将各传感器的信号传至单片机分析处理，从而控制L293D电机驱动，控制小车。利用红外对管检测黑线，通过循迹模块里的红外对管是否寻到黑线产生的电平信号返回到单片机红外对管来实现循迹功能。单片机根据程序设计的要求做出相应的判断送给电机驱动模块。让小车来实现前进，左转，右转，停车等基本功能。集成红外线传感器即光电开关进行避障。整个系统的电路结构简单，可靠性能高。根据小车各部分功能，分析硬件电路，并调试电路。将调试成功的各个模块逐个地融合成整体，再进行软件编程调试，直至完成。关键词：循迹小车STC89C52单片机红外对管L293D电机驱动AbstractThistrackingcaradoptsthenowpopular8-bitsinglechipmicrocomputerasthesystemofthebrain,withtheSTC89C52single-chipmicrocomputerasthecore.Tocontrolthetravelingcarwithit,inordertorealizethegivenperformanceindex.Fullanalysisofoursystem,thekeyistoachievetheautomaticcontrolcars,butatthispoint,single-chipmicrocomputercontrolwillshowitsadvantageissimple,convenientandfast.40feetDIPpackagemakesithas32completelyIO(GPIO-generalinput/outputport,signalinputcircuit,throughtheseportswilltransmitthesignalstosinglechipmicrocomputeranalysisofeachsensortocontrolL293Dmotordriveandcontrolthecar.Theuseofinfraredfordetectingtubeblackline,throughinfraredtrackingmodulefortubewhetherfindlevelsignalproducedbytheblackthreadreturnstotheSCMinfraredtubetorealizetrackingfunction.SCMaccordingtotherequirementoftheprogramdesignmakethecorrespondingjudgmentformotordrivermodule.Letthecartoachieveforward,turnleft,turnright,thebasicfunctionsuchasparking.Integratedinfraredsensorphotoelectricswitchforobstacleavoidance.Thecircuitofthewholesystemstructureissimple,reliableperformanceishigh.Accordingtothefunctionofcarparts,analyzethehardwarecircuit,anddebugthecircuit.Debuggingsuccessofeachmoduleindividuallymergedintoawhole,andthensoftwareprogramminganddebugging,untilcompletion.KEYWORDS:STC89C52dcmotorinfraredsensorsthepipetracingcarsL293Dmotordrive目录TOC\o"1-3"\f\h\z\uHYPERLINK\l"_Toc373912811"第一章绪论PAGEREF_Toc373912811\h1HYPERLINK\l"_Toc373912812"第二章方案设计与论证PAGEREF_Toc373912812\h2HYPERLINK\l"_Toc373912813"第一节主控系统PAGEREF_Toc373912813\h