(毕业论文)超声波移动机器人控制系统设计.doc

摘要
智能机器人[1]作为现代的新发明,是未来的发展方向,它能够在一个环境里按照预定的模式自行运作,不需要人为的管理,可应用于科学勘探等用途。近几年来,超声波导航[2]已经成为了机器人导航的主要发展方向之一。因为在基于超声波的智能机器人中,超声波就像机器人的眼睛,所以超声波导航是机器人发展的重要一部分。
本文采用单片机[3]为控制核心,利用超声波传感器检测道路上的障碍,控制机器人的自动避障,快慢速行驶以及自动停车。
本文设计的超声波移动机器人主要内容包括:底盘结构设计、底盘的控制系统以及超声波传感部分。
:机器人采用独立驱动的两轮式结构,动力源采用步进电机[4],减速装置采用齿轮减速,利用差速移动平台实现机器人的转向,选用增量式光电编码器对机器人速度进行检测,实现机器人的自主定位。
:应用单片机接受超声波传感器的信号,做出决策然后产生驱动信号,控制步进电动机。步进电机的驱动电路采用两个电机驱动芯片,实现步进电机的控制,完成机器人转向、加速等功能。
:以超声波传感器做为机器人的感知系统,把接受的超声波信号通过超声波处理技术提取机器人所在环境的环境特征,实现机器人对环境信息的采集。
关键词:超声波;差动式;步进电机;移动机器人
Abstract
As a modern invention, the new intelligent robot indicate the development of the future, it can operate automatically in the pattern set in advance but not with human management. So, it can be applied in the field of scientific exploration and so on. In recent years, ultrasound has e the main way in the field of the robot navigations. Ultrasonic just like the robot's eyes, so the ultrasound navigation has played an important role in the development of the robot.
In this paper, the robot select the single chip as the core of the control system, use the ultrasonic sensors to detect obstacles on the road, and control the robot avoid the obstacle and stop the car automatically, even control the speed during the driving.
The paper about the design of the ultrasound robot includes the following parts: the design of the chassis’s structure, the control-system of the chassis and the method of some calculations about ultrasonic.
The Design of the Chassis’s structure: the robot apply the two-wheels structure driven independently, choose the stepping motor as the power source, change the direction with the differential-velocities platform, and it also use incremental photoelectric encoder to test the speed of the robot’s motivation which help the robot locate itself automatically.
2. The control-system of the chassis: The robot receive the signals of ultrasonic sensors with the microcontroller , which can make decisions