基于单片机的移动机器人自主避障控制系统设计-毕业论文.docx

摘 要 随着人工智能和机器人工业的不断发展，人们对机器人的安全性及其所能实现的功能提出了更高的要求。而超声波结合左右两侧红外避障机器人对上述的要求提供了方法，由超声波结合红外自动识别前方和左右两侧的障碍物，通过反馈回来的信息帮助机器人减速或者刹停，极大的提高了机器人的安全性。 本文研究了超声波以及红外避障的方法，介绍了超声波和红外在避障方面的主要应用。这次设计主要是通过STC89C52RC单片机作为控制核心，单片机通过接收超声波和红外反馈回来的信号来控制L298N,通过L298N来间接改变直流电机的转速从而达到控制机器人改变运动路线的目的，以此来实现智能避障功能的实现。 本文着重介绍了STC89C52RC的工作原理，以及超声波模块HC-SR04、红外模块E18-D80NK的具体工作方法以及如何通过两组电机控制机器人的运动状态，同时介绍了L298N的逻辑以及相关原理。 关键词：单片机；超声波测距；红外测距；智能避障 Abstract With the continuous development of artificial intelligence and robot industry, people put forward higher requirements for the safety of robots and the functions they can achieve. Ultrasonic combined with infrared obstacle avoidance robot on the left and right sides provides a method for the above requirements. Ultrasonic combined with infrared automatically identifies the obstacles in front and left and right sides, and helps the robot to slow down or stop through the feedback information, which greatly improves the safety of the robot. In this paper, the methods of obstacle avoidance by ultrasound and infrared are studied, and the main applications of ultrasound and infrared in obstacle avoidance are introduced. This design is mainly based on STC89C53RC MCU as the control core. MCU controls L298N by receiving the signals from ultrasonic and infrared feedback, and indirectly changes the speed of DC motor through L298N to achieve the purpose of controlling the car to change the movement route, so as to achieve the realization of intelligent obstacle avoidance function. This paper mainly introduces the working principle of STC89C52RC, the concrete working methods of the ultrasonic module HC-SR04 and the infrared module E18-D80NK, and how to control the motion state of the car through two sets of motors. At the same time, the logic of L298N and its related principles are introduced. Key words: single chip computer; ultrasonic ranging; infrared ranging; intelligent obstacle avoidance 目 录 TOC \o 1-3 \h \u 第一章 绪论 1 1.1避障机器人的研究意义 1 1.2避障机器人的历史以及未来展