室内智能清洁机器人控制系统设计.pdf

室内智能清洁机器人控制系统设计 摘 要 智能家庭清扫机器人结合了传感器、移动机器人技术等多个领域的关键技术， 实现室内环境（地面）的半自动或全自动清洁，替代了传统的人工清洁工作，具有 十分广阔的市场前景。 本文首先综述了家庭清扫机器人的国内外研究现状，在综合比较了国内外多种 典型产品的基础上，提出适合中低端用户使用的家庭清扫机器人整体设计方案。 智能家庭清扫机器人系统由清扫机器人和充电站组成。清扫机器人是实现智能 清扫的主体部分，本文介绍了清扫机器人的组成部分，并完成了硬件电路的实现。 考虑到存储、接口资源及可靠性能等，主控器选择了宏晶科技公司的STC89C52单 片机，所构成的单片机应用系统功能强、性价比高，完全满足控制功能的要求。然 后，详细设计了红外传感器，碰撞检测，电源模块、充电模块、键盘、液晶显示以 及各种电机控制等电路。在软件设计方面，采用C51语言编制了控制系统各部分的 软件，包括主控程序以及时钟设定、键盘中断服务、红外、碰撞传感器检测等子程 序。 最后，综合设计结果制作了实验样机，进行实验研究。结果表明，所制作的清 洁机器人能够完成房间清扫工作，达到了预期的设计效果。 关键词：清洁机器人，智能控制，单片机系统 I 室内智能清洁机器人控制系统设计 Abstract Intelligent domestic cleaning robot unifies many essential technologies such as sensor, mobile robot technology and etc. It has realized the semiautomatic or entire automatic cleaning for indoor environment (ground) and substituted the traditional manual cleaning. It has an expansive prospect on market. The paper first summarizes the domestic and foreign research on the intelligent domestic cleaning robot. Based on the comparison among many typical products, a whole design scheme of intelligent domestic cleaning robot adapt to be used by low-cost product user is brought forward. The robot system is composed of cleaning robot and the battery charging station. Cleaning robot is the main part to realize the intelligent cleaning. This article introduces the constituents of cleaning robot and has completed the hard ware circuits. Considered the memory, the interface resources and there liability performance and etc, the HongJing Corporations MCU STC89C52 has been chosen as master controller, which makes t