避障自走車之設計與製作

Abstract

本文主要在設計一個先透過倒數設定，便能自動行走的自走車。而當這台自走車遇到障礙物時，能判斷到障礙物，並避開障礙物，繼續直線行走。軟體則藉由Keil C開發軟體，微控制器進行設定秒數及倒數功能，倒數完畢自走車便開始啟動。接著利用前方的感測裝置，偵測是否有障礙物，如果有障礙物，則進行後退接左轉???的動作，執行完後繼續前行。 其中我們用按鈕控制時間的長短與倒數的開始。倒數是用8052來進行控制，七段顯示器則用於顯示倒數的時間。前進與避障的動作是利用紅外線LED和光電晶體所組成的紅外線收發模組，配合車體結構組成障礙物感測器，將信號傳回8052，再將處理後的信號傳到馬達驅動電路使車體動作。未來如果將倒數用電子鬧鐘代替，再加上蜂鳴器的使用，就可以當作一個會跑的鬧鐘。或是將之視為避障自走車做更多的開發、使用。

The main purpose of this project is to design and implement a self-propelled vehicle with the function of obstacle avoidance. While the self-propelled car detects an obstacle, it can find out where it is, then shy away and go straight. The system software includes Keil C. The system hardware uses a microcontroller 8052 to set seconds and the function of countdown. After countdown, the self-propelled vehicle is started. By employing the front detector, any obstacle in front of the car can be detected, if there was, the vehicle will firstly go backward and turn left; then keep going forward.

Different buttons will be used to control the duration of time and the start of countdown. The timer of the microcontroller 8052 is used for countdown and the seven-segment LEDs display time of countdown. The obstacle detecting device is composed of an infrared LED and phototransistor. The detected signal will be fed to microcontroller, 8052. After processing the signals, it will be transmitted to the motor in such a way motor can respond the corresponding actions. Therefore the vehicle can go straight and shy away the obstacle.

If the countdown of the car is replaced by the electronic alarm clock, and the buzzer device is also added in vehicle, it can be considered as a moving alarm.