【毕业论文】基于68HC11单片机的能力风暴智能机器人的设计.docVIP

小型智能机器人控制系统设计 兰州理工大学毕业设计(论文) PAGE XXV PAGE 56 摘 要 本设计采用Motorola生产的68HC11单片机，来实现该机器人的硬件仿真设计和实物验证。首先完成了能力风暴智能机器人的自主运行、躲避障碍、智能跟随的仿真设计和实际控制系统设计。随后在Proteus平台上采用68HC11单片机进行了系统的硬件设计，通信模块与68HC11之间的存储设计，编程传感器的仿真驱动程序，并实现避障、智能跟随等功能的模拟；最终，借助能力风暴智能机器人自带的交互式C语言下载软件，将避障、智能跟随等功能从仿真转化到实物，从而完成了整个智能机器人控制系统的设计。 关键词：智能机器人；Proteus仿真；68HC11 Abstract This design uses the Motorola 68HC11 MCU production, the hardware design and Simulation of the physical verification of the robot. This design mainly completes the design of simulation design and practical control system for autonomous operation, ability storm robot to avoid obstacles, intelligent follows. And the hardware design of the system is 68HC11microcontroller on the Proteus platform, completed the design of storage between the communication module and 68HC11, the sensor simulation driver, to achieve the whole process control, simulation, intelligent obstacle avoidance with features such as complete; then, with the help of ability storm robot comes with interactive C language download software, the obstacle avoidance, intelligent follow functions from simulation to reality, thus completing the design of the intelligent robot control system. Keywords：Robot；Proteus simulation；68HC11 目 录 TOC \o 1-3 \h \z \u HYPERLINK \l _Toc27427 第一章 绪论 PAGEREF _Toc27427 1 HYPERLINK \l _Toc27084 1.1课题来源 PAGEREF _Toc27084 1 HYPERLINK \l _Toc26932 1.2本课题的研究目的及意义 PAGEREF _Toc26932 1 HYPERLINK \l _Toc32324 1.3 智能小车的现状 PAGEREF _Toc32324 1 HYPERLINK \l _Toc13547 1.4 小结 PAGEREF _Toc13547 2 HYPERLINK \l _Toc24672 第二章 系统方案设计及论证 PAGEREF _Toc24672 3 HYPERLINK \l _Toc7412 2.1 模块方案比较及论证 PAGEREF _Toc7412 3 HYPERLINK \l _Toc25294 2.2 电机驱动方案选择 PAGEREF _Toc25294 5 HYPERLINK \l _Toc13616 2.3 避障模块方案选择 PAGEREF _Toc13616 6 HYPERLINK \l _Toc20014 2.4 检测模块的设计 PAGEREF _Toc20014 7 HYPERLINK \l _Toc7923 2.4.1 碰撞传感器 PAGEREF _Toc7923 7 HYPERLINK \l _Toc13524 2.4.2 红外传感器 PAGEREF _Toc13524 8 HYPERLINK \l _Toc2131 2.4.3 光敏传感器 PAGEREF _Toc2131 9 HYP