光电导引自主式搬运机器人的设计.doc

PAGE 38PAGE I 2015 届毕业设计（论文）题 目：光电导引自主式搬运机器人设计专 业：测控技术与仪器班 级： 测控1101姓 名： 指导老师：起讫日期：年 月摘 要机器人是一种复杂的智能机械，包含了电子、机械、传感器、计算机、仿生学、控制技术、人工智能等学科。目前已成为世界各国的研究热点之一，是衡量一国工业化水平的重要标志。智能移动机器人是一个集环境感知、动态规划与决策、运动行为控制与执行等多种功能与一体的综合系统，可以说它是机器人的一个重要的分支。本文主要介绍了一种基于光电传感的移动搬运机器人的设计与实现。该机器人系统选用stm32f103zet6单片机作为微控制器，采用七路灰度传感器循迹，三路舵机控制的机械爪，一个红外光电开关测距，一个触碰开关，四个电机驱动机器人直线行驶，转弯。整个机器人系统涉及机器人结构设计，灰度传感器信号采集处理，机械爪的结构设计，循迹算法和策略优化等方面。经过多次调试，比较各种方案的优劣，不断改进和升级，确定了现在的方案。现在该机器人系统能够完整完成自主导航及搬运的任务，达到了实验预期目的。关键词：光电传感器，搬运机器人，自主导航，循迹ABSTRACTRobotics is a combination of mechanical, electronic, computer, sensors, control technology, artificial intelligence, bionics and other disciplines of complex intelligent machinery, has become one of the hot spots around the world, as a measure of a countrys level of industrialization important symbol.Intelligent mobile robot is an important branch of the robot, is a versatile integrated system human-computer interaction, situational awareness, planning and decision-making, such as a set of motion control.This paper describes the design and implementation of mobile robot based handling of photoelectric sensors. The robot system selected stm32f103zet6 microcontroller as microcontrollers, sensors tracking the use of seven road gray, three-way servo-controlled mechanical claw, an infrared photoelectric switches ranging, a touch switch, four motor-driven robot straight, turning . Entire robot system involving body structure design, gray sensor signal acquisition and processing, structural design of mechanical claw, control algorithms and strategies to optimize other aspects. After several rounds of testing, comparing the pros and cons of various options, continuous improvement and upgrading, determine the current program.The robot system can now complete the task of autonomous navigation and transportation, to achieve the intended purpose of the experiment.Keywords: photoelectric sensors, handling robots, autonomous navigation, tra