机械视觉导航履带式移动机器人小车的研究设计【全套图纸】.doc

摘 要 本设计的研究内容是视觉导航移动机器人的，其核心内容是应用控制电机实现机器人的左转弯、右转弯、前进和停止等动作。论文内容包括四个部分：简要介绍了移动机器人研究现状视觉导航式移动机器人设计和。论文详细地介绍了移动机器人设计。L293D控制芯片，芯片利用接受到的单片机发出的信号来控制电机的转速。 3. 传感器部分：利用视觉传感器收集图像，送至上位机进行图像处理 关键词：移动机器人，运动控制，控制， 全套图纸，加153893706Abstract The design of the study content is visual navigation of mobile robot car USES the core content of study design, application of single-chip microcomputer control motor is the robot car turn left, right, forward and stop such action. Includes four parts: the paper briefly introduced the mobile robot research background, significance, the present situation and development prospect, visual navigation crawler mobile robot car design principles and schemes of the structure design, mechanical parts, control system design and visual system design. Paper introduced in detail the mobile robot mechanical parts of the structure design. Car chassis design using a mechanical device USES, adopt double drive control, add the visual camera, control motor, electric coder to the device such as position, velocity, the operation condition of real-time measurement, and the measured data transfer process, then by single-chip microcontroller according to test data of intelligent control of electric cars. Main contents include: 1 mechanical structure design: use two rounds independent robots driven by caterpillar structure, brushless dc motor for electric power transmission device, the deceleration and by using differential gears, mobile robots platform to choose the solid-axes photoelectric encoder and the detection rate of robot, robot localization. 2 control structure design: the control part AT89C51 single-chip model for accept orders and produce, motor driver drive signal control chip, L293D part adopts chip using SCM to receive signals to control motor speed. 3 parts: using visual sensor sensor, send images supreme image processing machine Key words：Mobile robot, motion control, the single-chip microcomputer control, the visual system目 录摘 要 I Abstract II 1