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摘 要
近年來(lái)，隨著機(jī)器人技術(shù)的發(fā)展，移動(dòng)機(jī)器人軌跡跟蹤問(wèn)題受到了人們?cè)絹?lái)越多的關(guān)注。前輪轉(zhuǎn)向、后輪驅(qū)動(dòng)的輪式類車移動(dòng)機(jī)器人與四輪汽車的運(yùn)動(dòng)學(xué)模型相近，因此對(duì)輪式類車移動(dòng)機(jī)器人的軌跡跟蹤控制問(wèn)題的研究在汽車自動(dòng)駕駛、智能交通等方面具有重要的意義。
自動(dòng)引導(dǎo)機(jī)器人技術(shù)可用于無(wú)人駕駛汽車，無(wú)人工廠、倉(cāng)庫(kù)及服務(wù)機(jī)器人等領(lǐng)域。本文詳細(xì)介紹了基于51單片機(jī)的巡線機(jī)器人設(shè)計(jì)，其主要包括超聲波檢測(cè)模塊、紅外巡線檢測(cè)、電動(dòng)機(jī)調(diào)速驅(qū)動(dòng)以及搬用機(jī)械手模塊。該系統(tǒng)在單片機(jī)的控制下，采集、存儲(chǔ)、處理巡線系統(tǒng)輸入的數(shù)字信號(hào)，并通過(guò)驅(qū)動(dòng)系統(tǒng)來(lái)控制直流電機(jī)，使機(jī)器人按照預(yù)設(shè)的路線行走及搬運(yùn)物體。該系統(tǒng)使用反射式紅外傳感器識(shí)別與地面顏色差別較大的引導(dǎo)線信息，采用L298H橋驅(qū)動(dòng)電路和PWM波調(diào)速方法控制行走電機(jī)。給出了系統(tǒng)調(diào)試方法并分析了試驗(yàn)數(shù)據(jù)，討論了提升系統(tǒng)性能的必要手段，實(shí)現(xiàn)了機(jī)器人的自動(dòng)巡線功能。
本設(shè)計(jì)采用以AT89C51單片機(jī)為核心的低成本、高精度、微型化數(shù)字顯示超聲波測(cè)距儀的硬件電路和軟件設(shè)計(jì)方法。整個(gè)電路采用模塊化設(shè)計(jì)，由主程序、預(yù)置子程序、發(fā)射子程序、接收子程序模塊組成。探頭的信號(hào)經(jīng)單片機(jī)綜合分析處理，實(shí)現(xiàn)超聲波測(cè)距的功能。在此基礎(chǔ)上設(shè)計(jì)了系統(tǒng)的總體方案，最后通過(guò)硬件和軟件實(shí)現(xiàn)了各個(gè)功能模塊。相關(guān)部分附有硬件電路圖、程序流程圖。
關(guān)鍵詞：機(jī)器人；巡線；光電三極管；PWM波；51單片機(jī)；超聲波
Abstract
With the development of robot technology，the trajectory—tracking problem of
mobile robot is paid more and more attention．A wheeled car-like mobile robot，which is steered by two front wheel sand driven by two real wheels，has similar kinematic model to that of a four-wheel car．So the study on the trajectory-tracking problem of the wheeled car-like mobile robot is significant for automatic drive of car as well as intelligent transportation．
Automatic Guided robot technology can be used for unmanned aerial vehicles, unmanned factories, warehouses and service robots, and other fields. This paper describes Line-tracking robot design on the base of the 51. Its main module include: photoelectric detection module ultrasonic measurement detection and line patrols and infrared detection, Motor-driven, human-machine interfaces. Under the control of the single-chip microcomputer subsystem, the system can collect, save and process the digital signal from the line-tracking system, then controls the motor through the driving system, and with the system robot can move according to reinstalling tracking. The system uses infrared reflectance sensor identification with the ground vary greatly in color line guide information, Drivers using L298H bridge circuit and PWM control methods wave speed motor running. Commissioning is a systematic method of analysis and test data, discussed the upgrade system performance necessary means, the robot's automatic line-tracking function.
At the core of the design using AT89C51 low-cost, high accuracy, Micro figures show that the ultrasonic range finder hardware and software design methods. Modular design of the whole circuit from the main program, pre subroutine fired subroutine receive subroutine. display subroutine modules form. SCM comprehensive analysis of the probe signal processing, and the ultrasonic range finder function. On the basis of the overall system design, hardware and software by the end of each module.
Keyword: robot； line-tracking； photoelectric triode ；PWM wave,；51single-chip microcomputer；ultrasonic