我们尝试着先用STC89C52来控制小车的跑马灯，结果实验成功。证明单

We tried to use STC89C52 to control the marquee of the trolley first, and the experiment was successful. Prove that the microcontroller is operating normally. Then try to find the track, and the test is successful, and the car can run normally. This small test is to test the mechanical properties of the trolley. Achieved our expected purpose. <br>Check before the main board is powered on: After the circuit is installed, we first visually check whether the production line of each part of the circuit is correct, check whether there is a short circuit between the power supply, ground wire, signal wire, and component pins, and whether the components are connected incorrectly. <br>Power-on inspection: Power on the motor and observe whether the motor is working properly. When the motor is working normally, the working current of the rear drive is 320mA and the voltage is 5.4V; the working current of the front drive motor is 180mA and the voltage is 5.41V. Power on the main board and observe whether there are any abnormalities in each part of the circuit. <br>The motherboard was installed and debugged. During the debugging process, we found a small error in the schematic diagram. This error caused the voltage regulator chip of the car to overheat. After discussing together, it was decided to modify the schematic diagram and change the position of the car driver chip. After the modification, the overheating phenomenon of the car power supply voltage regulator chip disappeared. The trolley can also achieve basic functions. <br>In the process of debugging, I found that the car did not stop. After several days of hard work, I finally found the problem. The original program design was wrong. After correcting and debugging, the tracking function can finally be realized. <br><br><br>Summary <br>This design scheme is based on the requirements of the task book, with 51 single-chip microcomputer as the control core, combined with wireless remote control module, infrared pair tube tracking module, infrared obstacle avoidance module and motor control module to realize the automatic tracking function and automatic obstacle avoidance function of the car. Wireless remote control and voice control function. Basically complete the various indicators to realize the intelligent driving of the car. The system is through the combination of software and hardware, the hardware detection signal is obtained and then input to the corresponding I/O interface of the single-chip microcomputer. The process is controlled by the assembly program. After the car is started by the remote control, it automatically finds the track and continuously detects the remote control, obstacle avoidance and voice signals. , As long as any of these signals are obtained, they will be transferred to their corresponding functional modules to achieve effective control<br>Due to lack of time and various objective difficulties, the entire car has been simplified more than the requirements in the task book, and there are also many deficiencies: However, these certain deficiencies have greatly stimulated my interest, and continue to Improve and perfect the car: In addition to the above functions, the remote control will also add speed control, stop and start, etc., and can also add mileage calculation and display or other temperature, humidity, air pressure control and detection functions to achieve the effect of an intelligent robot. These also need to be learned from work to take oneself to the next level.

We tried to control the car's running lights with STC89C52 first, and the experiment was successful. Prove that the microcontroller is functioning properly. Then try to find traces, the results of the test was successful, the car can run normally. This little experiment is to test the mechanical properties of the car. Achieved what we expected.<br>Check before the motherboard power-up: the circuit is installed, we first intuitively check that the circuit parts of the production line is correct, check the power supply, ground, signal line, component pins between the short circuit, the device has no fault.<br>Power-on check: Power up the motor to see if it is working properly. When the motor is operating normally, the rear drive operating current is 320mA and the voltage is 5.4V, while the front motor is operating at 180mA and the voltage is 5.41V. Power up the motherboard and observe for anomalies in all parts of the circuit.<br>Motherboard installation debugging, in the process of debugging we found a small error in the schematic. This error caused the car's regulator chip to overheat. After a discussion, it was decided to modify the schematic and change the position of the car drive chip. After the changes, the car's power regulator chip overheated and disappeared. The car can also achieve basic functions.<br>In the process of commissioning but found that the car does not stop, after several days of efforts, finally found the problem, the original program design is wrong. After correction and debugging, finally can also achieve the track-following function.<br><br>summary<br>In accordance with the requirements of the task book, the design plan to 51 microcontrollers as the control core, combined with wireless remote control module, infrared tube tracking module, infrared barrier avoidance module and motor control module to achieve the car's automatic tracking function, automatic barrier avoidance function, wireless remote control and voice control function. Basic completion of the indicators to achieve intelligent driving of cars. The system is through the combination of hard and soft way, after the hardware heartbeat input microcontroller each corresponding I/O interface, through the assembly program control process, the car from the remote control after the start, automatic trace, and constantly detect remote control, obstacle avoidance and voice signal, as long as any of these signals will be transferred to their corresponding functional modules, to achieve effective control<br>Due to the lack of time and objective difficulties, the whole car compared to the requirements in the mission book has been simplified more, accompanied by a number of local shortcomings: however, these certain deficiencies greatly stimulate my interest, continuous improvement and improvement of the car: remote control to achieve the above functions will also add speed control, stop, etc., but also can add mileage calculation display or other temperature, humidity, air pressure control detection and other functions, to achieve the effect of intelligent robots. These also need to learn from the work to achieve, so that they can take themselves to a higher level.

We try to use STC89C52 to control the running lamp of the car, and the experiment is successful. It is proved that the MCU works normally. Then try to track, the results of the test is successful, the car can run normally. This small test is to test the mechanical performance of the car. We have achieved our expected goal.<br>Check before the main board is powered on: after the circuit is installed, we first visually check whether the production line of each part of the circuit is correct, whether there is a short circuit between the power supply, ground wire, signal line and component pins, and whether the components are connected incorrectly.<br>Power on inspection: power on the motor and observe whether the motor works normally. When the motor works normally, the working current of the rear drive is 320mA and the voltage is 5.4v; the working current of the front drive motor is 180mA and the voltage is 5.41v. Power on the main board and observe if there is any abnormal phenomenon in each part of the circuit.<br>Motherboard installation and debugging, in the process of debugging, we found a small error in the schematic. This error causes the voltage regulator chip of the car to overheat. After discussion, we decided to modify the schematic diagram and change the position of the car drive chip. After the modification, the overheating phenomenon of the power regulator chip of the car disappears. The car can also achieve the basic functions.<br>In the process of debugging, we found that the car did not stop. After several days of efforts, we finally found the problem. The original program design was wrong. After correction, debugging can finally achieve the tracking function.<br>summary<br>According to the requirements of the task book, this design takes 51 single chip microcomputer as the control core, combines with wireless remote control module, infrared tube tracking module, infrared obstacle avoidance module and motor control module to realize the car's automatic tracking function, automatic obstacle avoidance function, wireless remote control and voice control function. Basically complete the indicators, realize the intelligent driving of the car. The system is through the combination of hardware and software, get the hardware detection signal and input it into the corresponding I / O interface of single chip microcomputer. Through the assembly program control process, after the car is started by remote control, it will automatically track, and constantly detect the remote control, obstacle avoidance and voice signals. As long as any signal is obtained, it will be transferred to their corresponding functional modules to achieve effective control<br>Due to the lack of time and objective difficulties, the whole car has been simplified more than the requirements in the task book, accompanied by many deficiencies: however, these deficiencies greatly stimulate my interest, and constantly improve the car: in addition to the remote control to achieve the above functions, speed control, stop start, etc. can also be added, at the same time, mileage calculation can also be added Display or other temperature, humidity, air pressure control detection and other functions, to achieve the effect of intelligent robot. These also need to learn from the work to achieve, let oneself to a higher level.<br>