基于单片机的矿井机器人障碍物探测系统解析.doc

2015届毕业生 毕业设计说明书 题 目: 基于单片机的矿井机器人障碍物探测系统 院系名称： 电气工程学院 专业班级： 学生姓名： 学 号： 指导教师： 教师职称： 2015 年 05 月 8日  摘 要 井下救援时，矿井机器人在对井下未知环境的探测显得尤为重要。文中设计了一种基于单片机的矿井机器人障碍物探测系统。该系统主要由以下几大部分构成：测距模块用的是超声波测距传感器；信息传递模块用的是蓝牙无线传输；控制模块用STC89C52单片机控制整个系统的运行；动力模块由电池驱动两个直流电机控制机器人的动作。 用KEIL软件对STC89C52单片机进行编程控制系统运行。系统首先通过超声波测距传感器对前方障碍物进行监测，如无障碍物系统通过通信模块传递出信息，然后驱动电机是机器人前进；如发现障碍物，计算障碍物与机器人之间的距离，传出距离信息，控制器驱动电机对障碍物进行规避，继续检测前方是否有障碍物。系统就这样循环运行。 在系统运行时，我们要求系统必须对前方障碍物的距离做出准确的判断，及时避开障碍物，选择可以通过的路径继续探测，同时将测出的信号传递出来以方便救援人员及时掌握井下的环境信息快速制定救援方案。 关键词：矿井机器人；单片机；避障；测距；信号传递 Title Mine robot obstacle detection system based on MCU Abstract Mine rescue robot, mine is particularly important in the detection of underground unknown environment. This paper designs a detection system of mine robot obstacle based on MCU. This system is mainly composed of the following parts: the ranging module is used in ultrasonic ranging sensor; information transmission module is used in Bluetooth wireless transmission; control of the whole system using STC89C52 Microcontroller control module operation; power module is powered by a battery of two DC motor control robot action. Programming the control system of STC89C52 Microcontroller with KEIL software. The system first through the ultrasonic ranging sensor for monitoring the obstacles, such as no obstacle system conveys information through the communication module, and the driving motor is the robot forward; obstacles such as discovery, calculate the distance between the robot and obstacle distance, spread information, the controller drives the motor with obstacle avoidance, to detect whether there is in front of obstacle. This system operation cycle. When the system is running, we require the system must be on the front obstacle distance to make accurate judgments, to avoid obstacles, path selection can al