摘  要


首先，本文簡(jiǎn)述了機(jī)器人和移動(dòng)機(jī)器人的概念以及吸塵器機(jī)器人的研究意義。然后，本文對(duì)所設(shè)計(jì)的機(jī)器人的控制系統(tǒng)進(jìn)行了研究，建立了基于雙輪獨(dú)立驅(qū)動(dòng)系統(tǒng)的數(shù)學(xué)模型，并確定了控制系統(tǒng)的各個(gè)模塊。接下來(lái)本文重點(diǎn)敘述了控制器模塊、傳感器模塊和電機(jī)驅(qū)動(dòng)模塊的設(shè)計(jì)。對(duì)于控制器模塊，首先簡(jiǎn)述了ATMEGE16型微控制器的性能指標(biāo)，然后設(shè)計(jì)了其基本電路。對(duì)于傳感器模塊，首先簡(jiǎn)述了紅外傳感器的性能，然后研究了其在車體上的分布和其本身的硬件結(jié)構(gòu)，最后對(duì)紅外發(fā)射電路和接收電路進(jìn)行了設(shè)計(jì)。對(duì)于電動(dòng)機(jī)驅(qū)動(dòng)模塊，首先對(duì)直流電動(dòng)機(jī)PWM控制進(jìn)行了研究，然后設(shè)計(jì)了電動(dòng)機(jī)的驅(qū)動(dòng)電路，并簡(jiǎn)述了使用ATMEGE16產(chǎn)生PWM信號(hào)的方法。

關(guān)鍵詞：移動(dòng)機(jī)器人； ATMEGA16微控制器；紅外傳感器；直流電動(dòng)機(jī)PWM控制；L298N。

 

Abstract


First, this paper describes the concept of robot and mobile robot and the significance of the study of robot vacuum cleaner. And then, this paper studies the control system of the robot that is designed, and establishes the mathematical model that based on the two-wheel independent drive system, follows with the description of the modules of the control system. At the last part, this paper focuses on the design of the controller module, the sensor module, and the motor driver module. For the controller module, the property of the ATMEGA16 microcontroller is described at first, and then its basic circuit is designed. For the sensor module, first describes the performance of the infrared sensor, then studies the hardware structure of itself and the distribution of them, and design the infrared emitter circuit and the receiver circuit. For the motor drive module, the DC motor PWM control is studied at first, then the driving circuit is designed, and how to provide PWM signal with the ATMEGA16 is described at last.

Keywords: mobile robot; ATMEGA16; infrared sensor; DC motor PWM control; L298N.


 


 


 


 


 


 




目  錄


第一章  緒論 1

1.1  機(jī)器人及移動(dòng)機(jī)器人概述 1

1.2  本課題研究?jī)?nèi)容及意義概述 1

第二章  吸塵器機(jī)器人總體設(shè)計(jì) 3

2.1  機(jī)器人的機(jī)械結(jié)構(gòu) 3

2.2  機(jī)器人的運(yùn)動(dòng)模型 4

2.3  機(jī)器人控制系統(tǒng)總體設(shè)計(jì) 5

第三章  吸塵器機(jī)器人處理器模塊的設(shè)計(jì) 7

3.1  微控制器的選擇 7

3.1.1  微控制器的選擇原則 7

3.1.2  ATMEGA16微控制器簡(jiǎn)介 7

3.2  ATMEGA16微控制器基本電路（最小系統(tǒng)）設(shè)計(jì) 8

第四章  吸塵器機(jī)器人傳感器模塊的設(shè)計(jì) 13

4.1  紅紅外傳感器概述 13

4.2  紅外傳感器硬件設(shè)計(jì) 13

4.2.1  硬件設(shè)計(jì)綜述 13

4.2.2  紅外發(fā)射電路 15

4.2.3  紅外接收電路 16

第五章  吸塵器機(jī)器人電機(jī)驅(qū)動(dòng)模塊的設(shè)計(jì) 18

5.1  直流電動(dòng)機(jī)PWM調(diào)速原理 18

5.2  電機(jī)驅(qū)動(dòng)電路的硬件設(shè)計(jì) 20

5.2.1  光電隔離電路 20

5.2.2  電機(jī)驅(qū)動(dòng)電路 21

結(jié)  論 25

參考文獻(xiàn) 26

謝  辭 28