机器人超声波测距系统设计.doc

摘 要 由于人工智能、计算机科学、传感器技术及其它相关学科的长足进步，机器人的研究根据设计具有开放式结构的机器人控制器．而且设计过程中要尽可能做到模块化．基于多自主体概念设计的新型控制器就是按模块化方法设计的，系统由数据库模块、通讯模块、传感器信息模块、人机接口模块、调度模块、规划模块、伺服控制模块等7个模块构成CCTV全国大学生机器人大赛的规则来进行设计的，相应的内容有以下几个方面： 中央处理器 （2）数据信息采集模块 （3）运动控制模块（4）人机接口 本课题设计了以P89LPC935菲利浦单片机为核心的机器人主控制系统，结合红外线寻迹、颜色探测、超声波探测及电子指南针定位等模块，对机器人进行自动控制，使其完成各项规定的动作，从而完成比赛要求。 该系统充分利用了P89LPC935单片机的高性能部件，如硬件PWM输出功能、脉冲输入捕获功能、A/D、D/A转换功能及SPI、I2C数据通信功能，从而简化了系统电路，并获得理想的控制效果。 结合本课题的实际要求及课题组的分工，我主要负责系统的超声波探测模块设计， 在本文中将分章节对整个系统及超声波探测模块进行分析与论述，同时将给出系统的电路图、软件流程与源程序代码。 关键字：机器人 单片机 红外线 驱动系统 超声波 电子指南针 Abstract Because of modern industrial development, artificial intelligence, computer science, sensor technology and other relevant disciplines have achieved considerable progress; therefore research of the robot has got unprecedented progress too. People have designed the robot controller with open structure according to the needs of modern industrial development, and have accomplished the modularization as much as possible in the course of designing. The new-type controller based on the concept of multi-0iposndependent body is designed according to the scheme of modularization, the system consists of 7 pieces, database module, communication module, sensor information module, man-machine interface module, dispatcher module, plan module, and servo module. If you want to design an ideal, perfect intellectual robot moving system, usually it should be made up of 3 functional modules: (1) The aesthesia functions of obtaining environmental information. (2) The planning function that realizes navigation independently. (3) The execution functions of accomplishing the anticipated target or the task. This project is designed according to the rule of the forth CCTV national university man robot competition of 2005. And the corresponding contents have the following several aspects: Central processing unit. Data information gather module. Sport control. Man-machine interface module. Combined with the actual req