智能巡線機(jī)器人設(shè)計(jì)
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摘 要

近年來機(jī)器人的研究和應(yīng)用已經(jīng)不僅僅局限于軍用領(lǐng)域。許多應(yīng)用于軍用機(jī)器人上的成功技術(shù)已經(jīng)在民用機(jī)器人中得到了一定的應(yīng)用。在工業(yè)機(jī)器人的基礎(chǔ)上，運(yùn)用了傳感器技術(shù)和單片機(jī)智能控制技術(shù)，設(shè)計(jì)出了一種能自動運(yùn)送貨物的職能巡線機(jī)器人。
論文首先對智能巡線機(jī)器人總體設(shè)計(jì)方案進(jìn)行敘述，闡述其各要素的工作原理，然后就整個(gè)智能巡線機(jī)器人系統(tǒng)劃分為五個(gè)模塊，分章節(jié)對各個(gè)模塊設(shè)計(jì)制作進(jìn)行闡述。
機(jī)器人機(jī)械結(jié)構(gòu)部分，通過分析常用的車輪驅(qū)動配置方式，擇優(yōu)選擇了前排安裝兩個(gè)萬向輪、后排安裝兩個(gè)獨(dú)立驅(qū)動輪的設(shè)計(jì)方案，充分考慮到了巡線的簡易性和穩(wěn)定性。
機(jī)器人傳感器接口與驅(qū)動電路部分，詳細(xì)闡述了光電傳感器檢測信號原理，敘述了設(shè)計(jì)所采用的光電傳感器接口電路詳細(xì)設(shè)計(jì)方案，分析了傳感器采用該種布局方案的原因。針對機(jī)器人的機(jī)械特性和速度要求，選用了L298N驅(qū)動芯片驅(qū)動電機(jī)，分析了它的優(yōu)缺點(diǎn)和可行性。
機(jī)器人主控系統(tǒng)硬件部分闡述了主控芯片選型，主控電路設(shè)計(jì)方案，以及相應(yīng)的接口說明。軟件部分在MSP430平臺上實(shí)現(xiàn)了快速、穩(wěn)定、準(zhǔn)確的巡線方法。

關(guān)鍵詞: 機(jī)器人；巡線；光電檢測；PWM驅(qū)動。


Abstract
In recent years, research and design of robot has not been limited just in military field. Many technologies, which had been used in the military field cuccessfully, have been used in the field of civilian robot. Based on the industrial robot, and by applying sensor interface control and SCM intelligent control, this project has designed one kind of biranpower line walking robot that is able to carry the goods by itself.
In this thesis, the overall design of autonomous line-tracking robot and principle of each essential element have been described. The robot system has been divided into five parts as fellow.
The autonomous line-tracking arithmetic is the key of this project research. The relative position relationship between the robot and the leading line is divided into seven typical states; the adjustment strategy has been described respectively. An implementation principle to enable centerline approaching the leading-line gradually has been described by adjusting continuously chassis posture.
In mechanical structure part, by analyzing the normal wheel drive configurations, it has been choiced that two universal wheels are installed in the front and two independent driving wheels are installed in the rear, which takes fully into account the simplicity and stability of the line-tracking.
In sensor interface and drive circuit part, a detail explanation of photoelectric sensor and interface circuit has been discussed carefully. To adapt the robot mechanical properties and speed requirement, two motor driving circuits based on different principles have been designed and their advantages and feasibility analyied.
In robot control system part, hardware and software have been discussed such as CPU choosing, control circuit designing, and hardware interface assigning, etc. Based on the MSP430, the speed difference from left and right wheel created by the Pulse-Width Modulation adjusts the position of the robot and leading line, which carries out the autonomous runs along with the leading line quickly, stably and accurately.

Keywords: Robot; Line-tracking; Photoelectric Sensor; PWM.


目 錄

摘要 1
Abstract 2
前言 3
第1章 緒論 1
1．1 機(jī)電一體化技術(shù)簡介 1
1. 2智能巡線機(jī)器人的概況 2
1. 3 課題的主要內(nèi)容 2
第2章 自動巡線機(jī)器人總體方案設(shè)計(jì) 4
2．1 機(jī)器人要素分析 4
2．2 機(jī)器人總體分析 5
2.2.1 場地分析 5
2.2.2 機(jī)械結(jié)構(gòu)分析 5
2.2.2控制系統(tǒng)框架設(shè)計(jì) 5
2.2.4運(yùn)動姿態(tài)分析 5
第3章 機(jī)械結(jié)構(gòu)設(shè)計(jì) 7
3．1 移動機(jī)器人的車輪驅(qū)動配置 7
3.1.1 機(jī)器人常用車輪驅(qū)動配置介紹 7
3.1.2 本系統(tǒng)所采用的車輪驅(qū)動方式配置 10
3．2 機(jī)器人機(jī)械尺寸設(shè)計(jì) 11
第4章 傳感器接口電路設(shè)計(jì) 13
4．1 機(jī)器人對巡線傳感器的要求 13
4．2 超聲波傳感器 13
4.2.1超聲波傳感器的原理 13
4.2.2 超聲波的發(fā)射與接受電路 15
4．3 紅外光電反射式傳感器 15
4.3.1 紅外光電反射式傳感器原理 16
4.3.2 基于反射光強(qiáng)度測量的紅外光電反射式傳感器電路 17
4．4 紅外光電反射式傳感器布局 19
第5章 電機(jī)驅(qū)動電路設(shè)計(jì) 21
5．1 驅(qū)動電機(jī)的選用 21
5.1.1電機(jī)減速器的選擇 22
5.1.2 所選電機(jī)性能校核 23
5．2 直流電機(jī)的轉(zhuǎn)動控制 24
5．3 直流電機(jī)的速度控制 26
5．4基于L298的驅(qū)動電路 28
第6章 智能巡線機(jī)器人之態(tài)調(diào)整方法 31
6．1 總體分析 31
6．2 姿態(tài)分析 32
第7章 主控系統(tǒng)的設(shè)計(jì) 36
7．1 主控制芯片的選型 36
7.1.1 MSP430系列與89C51系列單片機(jī) 36
7.1.2 選用的MSP430F449的原因 38
7.1.3 MSP430F449的引腳 39
7．2 主控單元電路設(shè)計(jì) 39
7．3 MSP430實(shí)現(xiàn)巡線算法 43
7. 4巡線改進(jìn)方法的實(shí)現(xiàn) 46
7. 5轉(zhuǎn)彎分析 51
總結(jié)與展望 56
致謝 57
參考文獻(xiàn) 58
附件一：程序 60
附件二：元件 76


參考文獻(xiàn)
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[14] Davod Cook. 機(jī)器人制作入門篇(美) [M].北京:北京航空航天大學(xué)出版社2005
[15] 庫克(Davod Cook).機(jī)器人制作入門篇(美) [M].北京:北京航空航天大學(xué)出版
2005
[16] 費(fèi)仁元,張慧慧.機(jī)器人設(shè)計(jì)與分析[M].北京:北京工業(yè)大學(xué)出版社,1998.9
[17] 秦曾煌.電工學(xué)(上冊) [M]. 北京:高等教育出版社,2003.5
[18] 胡大可.MSP430系列——FLASH型超低功耗16位單片機(jī)[M].北京：北京航空航天大學(xué)出版社，2001.11
[19] 邁克•普瑞德克.機(jī)器人控制器與程序設(shè)計(jì)[M].北京:科學(xué)出版社,2004.5



附件：機(jī)器人控制程序
1．詳細(xì)的C語言程序如下：
#include
typedef unsigned char uchar;
#define DELAYTIME 2000
#define ZUOZHUANWAN 0 //左轉(zhuǎn)彎
#define YOUZHUANWAN 1 //右轉(zhuǎn)彎
#define HOUTUITIME 10 //后退調(diào)整時(shí)間
#define MAXTURNTIME 12 //最大轉(zhuǎn)彎時(shí)間
#define MINTURNTIME 3 //最小轉(zhuǎn)彎時(shí)間
......



附件二：元件
1.LM339四電壓比較器引腳圖
2.7414反向器引腳圖
3．LM358雙運(yùn)算放大器引腳圖