自主行走机器人小车的软硬件研究

论文字数:14410,页数:26

自主行走机器人小车的软硬件研究
           
摘要：随着计算机技术和人工智能技术的飞速发展，使移动机器人在功能和技术层次方面都有了很大提高，移动机器人的视觉和触觉技术就是典型的代表。移动机器人在工业生产中常用来完成运输和上下料等任务，同时也被广泛用于农业、医疗等不同行业。
 移动机器人技术是近年来的研究热点，自主行走可以作为最基本的功能。本次的毕业设计以实现行走机器人的自主行走功能为主要目标，完成机器人的制作。详细主要分成三大模块，电机动力模块、红外线避障系统、霍尔传感器测速模块。以这三大模块为主要路线来实现机器人小车的自主行走。平台主要依靠ARM开发板和单片机伟福仿真器，从硬件入手，完成各种硬件的制作和调试，再配以软件，和程序一起来完成这一系统。最后对移动机器人的发展趋势进行了展望。
关键词：移动机器人；电机动力系统；红外线避障；霍尔传感器测速
Abstract:Along with the computer technology and the artificial intelligence technology rapid development, caused to move the robot all had the very big enhancement in the function and the technical level aspect, moved the robot the vision and the sense of touch technology is typical representative. Moves the robot often to use for in the industrial production to complete the transportation and on duties and so on yummy treats, simultaneously also widely uses in the agriculture, the medical service and so on different profession.
 The motion robot technology was the recent years research hot spot, walked independently may take most basic function. This time graduation project take realizes walks the robot independently to walk the function as the essential target, completes the robot manufacture. This time graduation project take realizes walks the robot independently to walk the function as the essential target, completes the robot manufacture. Mainly divides into three big modules in detail, the electrical machinery power module, infrared evades bonds the system, the Hall sensor measures fast module. Realizes the robot car take these three big modules as the principal route to walk independently. The platform mainly depends upon the ARM development board and the monolithic integrated circuit great luck simulator, from hardware obtaining, completes each kind of hardware the manufacture and the debugging, again matches by the software, complete this system together with the procedure. Finally to move the robot the trend of development to carry on has forecast.
Keywords：Motion robot；Electrical machinery dynamic system；Infrared evades bonds；The Hall sensor measures fast
目录
1  绪论 3
1.1  机器人的发展 3
1.2 嵌入式系统现状 4
1.2.1  嵌入式系统的定义 4
1.2.2  嵌入式系统的特点 4
1.2.3  嵌入式系统的历史与现状 4
1.2.4  嵌入式系统的发展趋势 5
1.3 ARM概述及其应用领域 6
1.3.1  ARM概述 6
1.3.2  ARM的应用领域 6
1.4 我们的课题 6
1.4.1  总体方向 6
1.4.2  机器人模块实现总体方向实现过程 7
1.4.3  实现过程 7
2  自主行走机器人的行走控制方案 7
2.1  直流电机的控制方案 7
2.2  驱动电路 7
2.2.1  驱动芯片介绍 7
2.2.2  驱动电路 8
3  避障系统硬件设计 12
3.1  常用避障电路的实现方法 12
3.2  红外线避障系统的实现 12
3.2.1  红外线避障电路基本原理 12
3.2.3  红外发射电路设计 13
4  速度测量实时反馈 16
4.1  方案总述 16
4.2  方案选择和实施 16
4.2.1  选择方案 16
4.2.2  任务实施 16
4.2.3  计数模块设计 17
5  ARM开发平台及uClinux操作系统的设计 19
5.1  ARM开发平台介绍 19
5.1.1  基本设置 19
5.1.2  交叉环境的建立 20
5.1.3  uClinux内核源码的修改与裁剪 20
5.2  uClinux内核编译 21
5.2.1  uClinux内核结构 21
5.2.2  uClinux内核编译 22
5.2.3  为S3C44B0X添加自己的应用程序 23
6  总结 24
致 谢 25
参考文献 26

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