移动机器人视觉传感器的软件设计.docVIP

摘 要 移动机器人是机器人学一个重要分支，且随着相关技术的迅速发展，它正向着智能化和多样化方向发展，应用广泛，几乎渗透所有领域“完全自主” 。能使机器人在未知的环境下，通过自身传感器测量周围环境数据，逐渐估计自身位置和运动状况，并把信号反馈到单片机，使单片机按照预定的工作模式控制小车的运动控制。 内容包括： 1.机械结构设计：机器人采用两轮独立驱动的三轮结构，动力源采用直流无刷电机，减速和传动装置采用齿轮传动，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进行对机器人速度的检测，实现机器人的定位。 2.控制结构设计：控制部分采用AT89C51型号单片机进行接受命令和产生驱动信号，电机的驱动部分采用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： Abstract Mobile robot is an important branch in robotics, along with the rapid development of the related technologies, it is toward intelligent and diversified development direction, wide application, permeate almost all areas. With the development of robotics and artificial intelligence, scientists were often faced with issues on cooperation and coordination among different robots in a workspace. This has led to the developments in multi-robot cooperative systemsMRCS. As a research model of MRCS, trailing robot is an interdisciplinary area that involves the knowledge of robotics, intelligence control, wireless communication, computer science, sensor technology, image processing, artificial intelligence, and so on. It has become a public experimental platform for universities all over the world to communicate with each other. It has gained considerable attention in recent years. Originally inferior design simpleness is robotic , adopt the monolithic machine to be the handcart detecting and to control core; Adopt optesthesia sensor to resolve the interior localized intelligence robot problem , realizes a robot acting on selfs own in interior hit the target complicated environment completeness. And can make robotic under unknown environment , gradually, estimate oneself location and move status by the fact that oneself sensor measures the environment data,coupling back the signal arrives at the monolithic machine , makes the monolithic machine can look for trace according to giving stable black the guidance line arbitrarily stable according to that the predetermined job pattern controls