声超波移动机器人控制系统设计 --本科毕业论文.doc

摘 要关键词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 become the main way in the field of the robot navigations. Ultrasonic just like the robots 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 and then generate the driving signals to control the stepper-motor. The driver-circuit applies two motor-driver-chips to control the stepper-motor, implement the functions of steering, acceleration and others. 3. The part of Ultrasonic sensor and the algorithm: The ultrasonic sensors, as the robots perceptual system, process the ultrasonic signal received to analyze the environmental characteristics where the robot’s in and to get the information of the environment. Key words：Ultrasonic wave; Differential type; Step-by-steps the electrical