《轮式行走机器人设计》毕业学术论文.docVIP

唐 山 学 院 毕 业 设 计 设计题目： 轮式行走机器人设计 系 别： 机电工程系 班 级： 07测控（）Wheeled Robot ABSTRACT This subject completed a design of wheeled car robot based on the principle of autopilot car. The final effect of this design is to let the machine perceive a special guidance runway（this guidance runway consist of a white background with high reflective rate and a black guide line with low reflective rate ）through a series of infrared reflecting photoelectric sensor and find the path automatically and make the machine realize the obstacle-avoiding function . This system adopts DC motor as the drive motor, the mode of the motor control is one-way PWM open-loop control and the control core adopts 51_series microcomputer control system. In control, we can just use a piece of SCM (Single Chip Micyoco) to realize the function of signal acquisition, route judge and the motor control, etc. The SCM detects the traffic information detected by a series of sensors first, then sends corresponding instructions to motor driver circuit according the algorithm loaded, meanwhile, adjusts the car’s stat-stop, moving, steering and adjust speed, etc. Finally make the car can arrive from one location to another location along the guidance runway. Keywords: Guide line; reflecting photoelectric sensor; PWM; obstacle avoidance 目 录 1 引言 1 1.1 机器人技术简介 1 1.2 轮式行走机器人设计简介 1 2总体方案 3 2.1 系统方框图介绍 3 2.2方案论证与比较 3 2.2.1轨迹探测模块设计与比较 3 2.2.2数据存储比较 5 2.2.3刹车机构功能方案比较 6 3硬件部分设计 7 3.1电源模块设计 7 3.2轨迹探测传感器模块设计 8 3.2.1 轨迹探测传感器的布局及工作方式 8 3.2.2 TCRT5000的介绍及其工作原理 9 3.3避障传感器模块设计 11 3.3.1 避障传感器的布局及工作方式 11 3.3.2 避障传感器E18-D80NK的介绍和工作原理 12 3.4单片机模块设计 13 3.4.1 单片机模块的整体介绍 13 3.4.2 STC89C52单片机的介绍 13 3.5电机控制模块设计 15 3.5.1电机控制模块的整体介绍 15 3.5.2电机控制芯片L298N的介绍 17 3.6 直流电机及减速箱简介 18 3.7主电路图及电路板设计 20 4模块的软件设计和调试 22 4.1 系统软件设计说明 22 4.2 小车自动导引和避障的软件流程图设计 22 4.2.1初始化模块 22 4.2.2 PWM调速模块 23 4.2.3避障模块 24 4.2.4 道路识别模块 25 4.2.5整体流程图 26 5仿真与制作 28 5.1 程序的编译调试与仿真 28 5.2 小车的制作与调试 30 5.2.1 制作说明 30 5.2