《矿井救灾机器人的研制》-毕业设计论文（学术).docVIP

PAGE 南京工程学院 自动化学院 本科毕业设计（论文） 题 目： 矿井救灾机器人的研制 专 业： 测控技术与仪器 班 级： 测控071 学 号： 203070716 学生姓名： 指导教师： 副教授 助理实验师 起迄日期： 2011.2～2011.6 设计地点： 实验楼 _ PAGE Graduation Design (Thesis) Design of Mine Rescue Robot By LI Jinkun Supervised by Associate Prof. ZHAO Qian Assistant Engi.LIU Dawei School of Automation Nanjing Institute of Technology June, 2011 摘 要 本论文提出了一种煤矿井下环境探测与搜救机器人系统设计方案，该机器人集先进的机械、电子、信息、控制工程等技术于一身，采用仿生学原理，综合蛇形机器人、履带式机器人和轮式机器人的优点，采用履带和轮胎、伸缩结构的有机结合，能适应崎岖不平的地形环境，可以轻松爬上较高楼梯、跨越壕沟，用于搜索幸存者、探测检测井下环境，具有体积小、成本低、可控性强等特点。 本论文重点研究了信息采集系统的设计、电机驱动模块的设计以及单片机串口通信的设计。本论文的主要成果包括:采用AT89C51单片机作为机器人小车的数据处理核心；采用温度、湿度一体式的数字智能传感器DHT11实现矿井内温度、湿度的测定；采用红外气体传感器MH-44OV/D用作矿井瓦斯浓度的测定；在单片机与PC机的通信方面，采用了内部集成了nRF401的无线数据传输模块PTR2000，可靠地实现了远距离通信；还采用了L298作为直流电机驱动芯片，用以控制机器人小车的前进、转向、后退。 关键词：矿井环境探测；机器人；信息采集；无线传输；电机驱动 ABSTRACT A kind of mine environment exploration and rescue robot system design program was presented in this thesis. The robot?was set?of advanced?mechanical, electronic, information,?control engineering?and other?technology in its body. Used of?bionics, comprehensive?the advantages of snake-like robot, tracked robot and wheeled robot. Organic combination used track, tires and telescopic?structure. On rugged terrain, it has good performance. It can climb high stairs and cross the?ditch easily. It is used to search for?survivors and detect underground environment. It has the advantage of small size, low cost and good?controllable. The design of information collection?system, motor drive?module and serial communication of MCU were mainly introduced in this thesis. The main works finished and results obtained are as follows: take MCU AT89C51 as the data?processing core of the rescue robot; take digital?smart?sensor DHT11 to achieve measuring?the temperature?and humidity in the mine; take infrared?gas sensor MH-440V/D to achieve measuring gas?concentration in the mine. Wireles