本课题设计的超声波避障系统主要是利用超声波技术，实现小车的智能测距、测

The ultrasonic obstacle avoidance system designed in this subject mainly uses ultrasonic technology to realize the intelligent distance measurement, speed measurement and obstacle avoidance of the car, and completes the independent tracking of the car through the infrared module. The hardware part is composed of single chip microcomputer STC89C52, active buzzer, LCD1602 liquid crystal display, 7805 voltage regulator, ultrasonic sensor, two infrared tracking module and L298N motor drive and other modules. Under the control of the single chip microcomputer, automation can be achieved, and the minimum safety distance can be set by pressing the button. When the distance between the trolley and the obstacle is less than the safest distance, the buzzer alarms and avoids obstacles, and the display screen displays the distance and speed in real time. In addition, when the car detects a black line, it can follow the trajectory of the black line. The software part is written in C language, and it mainly includes the programming of functions such as setting the safety distance by pressing buttons, alarming the safety distance by buzzer, speed analysis algorithm, obstacle avoidance control, and intelligent tracking. Compared with the traditional intelligent obstacle avoidance system, the ultrasonic anti-collision speed measurement and obstacle avoidance instrument designed in this paper can realize the speed measurement and obstacle avoidance functions at the same time by using the ultrasonic module alone, which avoids the waste of devices, is more economical and convenient, and has certain The feasibility and practical application value.

The ultrasonic barrier avoidance system designed by this topic mainly uses ultrasonic technology to realize the intelligent ranging, speed measurement and obstacle avoidance of the car, and completes the autonomic trace of the car through the infrared module. The hardware part consists of a single chip STC89C52, an active buzzer, an LCD1602 LCD display, a 7805 regulator, an ultrasonic sensor, a two-way infrared tracing module and an L298N motor drive. Under the control of the microcontroller, automation can be achieved, the minimum safe distance can be set by pressing the button, when the distance between the car and the obstacle is less than the safest distance, the buzzer alarm and avoid the barrier, while the display real-time display distance and speed. In addition, when the trolley detects a black line, it is able to follow the track of the black line. The software part is written in C language, including the program design of safe distance setting, buzzer safety distance alarm, speed analysis algorithm, barrier control, intelligent tracing and so on by pressing the key. Compared with the traditional intelligent obstacle avoidance system, the ultrasonic anti-collision speed and barrier avoidance instrument designed in this paper can realize the speed measurement and barrier avoidance function by using the ultrasonic module alone, avoid the device waste, be more economically convenient, and have a certain feasibility and practical application value.

The ultrasonic obstacle avoidance system designed in this paper mainly uses the ultrasonic technology to realize the intelligent ranging, speed measurement and obstacle avoidance of the car, and through the infrared module to complete the independent tracking of the car. The hardware part consists of STC89C52, active buzzer, LCD1602 LCD, 7805 voltage regulator, ultrasonic sensor, two-way infrared tracking module and L298N motor drive module. Under the control of single-chip microcomputer, to realize automation, the minimum safety distance can be set by pressing the key. When the distance between the car and the obstacle is less than the maximum safety distance, the buzzer will alarm and avoid the obstacle, and the display screen will display the distance and speed in real time. In addition, when the car detects the black line, it can run according to the track of the black line. The software part is compiled by C language, mainly including the program design of safety distance setting by key, safety distance alarm by buzzer, speed measurement analysis algorithm, obstacle avoidance control, intelligent tracking and other functions. Compared with the traditional intelligent obstacle avoidance system, the ultrasonic anti-collision speed and obstacle avoidance instrument designed in this paper can achieve the function of speed measurement and obstacle avoidance at the same time by using the ultrasonic module alone, which avoids the waste of devices, is more economical and convenient, and has certain feasibility and practical application value.