扫地机的数据控制系统设计设计说明

本科毕业设计说明书

扫地机的数据控制系统设计

THE DESIGN OF AUTOMATIC SWEEPING MACHINE DATA

CONTROL SYSTEM

扫地机的数据控制系统设计

摘要

自动扫地机属于服务机器人的一种，随着社会的发展需要，服务机器人已经渗透了我们的生活、工作和经济方面，并且起到了很大的作用。世界各国尤其是西方发达国家都在致力于研究开发和广泛使用自动扫地机。尽管目前国内外在这方面的研究开发方面已经取得一定的成果，但是仍有许多关键技术问题需要解决或提高，如路径规划就是其中的一个比较重要的技术。本文介绍一种基于MC9S12DG128单片机的自动扫地机数据控制系统。该系统实时性高功能完备，包括信息采集模块、控制模块、清扫模块、运动模块。由碰撞传感器、红外测距传感器等来探测周围的环境，由红外接收头实现无线手动遥控功能，由直流电机带动两个驱动轮旋转，采用改进的“井”字形路径遍历法。经过实验证明了设计的可靠性，实现了自动扫地机的自动清洁行走。

关键词：自动扫地机，单片机，红外遥控，自动行走

THE DESIGN OF AUTOMATIC SWEEPING MACHINE DATA

CONTROL SYSTEM

ABSTRACT

Automatic sweeping machine is one part of the serving robot. With the development of society, the serving robot has infiltrated our lives, work and the economy, and has played a significant role. Automatic sweeping is being researched and developed in the countries all over the world, and which is being used widely in the west developed countries. Despite the current areas of research and development at home and abroad in this aspect has made certain achievements, there are still many key technical problems need to be solved or improved. For example, path planning is one of the important technical. This paper presents the system integration and overview of autonomous cleaning robot which is based on MC9S12DG128 singlechip. The real time characteristic and function of the system are in good condition. The system consists four segments: information collection module, the decision module, cleaning module, motion control module. Several sensors such as collision sensor, infrared distance sensors detect the surrounding obstacles while cleaning. The realization of wireless remote manual control function is composed of an infrared receiving head. Two driven wheels are driven by two DC motors combining. It adopts the improved "井" - shaped path traversal method. Experiments show that the control system run well and the robot have the ability to clean the floor automatically.

KEYWARDS：automatic sweeping machine, singlechip, infrared remote control, automatic move

目录

摘要 ............................................................................................................................ II ABSTRACT ............................................................................................................... III 1 绪论 (1)

1.1 概述 (1)

1.2选题依据和意义 (1)

1.3 国内外自动扫地机的发展现状 (2)

2 MC9S12DG128单片机简介 (4)

2.1前言 (4)

2.2引脚说明 (4)

2.3 操作模式 (7)

2.4 本系统中的MC9S12DG128单片机 (8)

3 系统总体设计 (9)

3.1自动扫地机系统组成 (9)

3.1.1信息采集模块 (9)

3.1.2控制模块 (9)

3.1.3运动模块 (10)

3.1.4 清扫模块 (10)

3.2 自动扫地机系统总体设计 (10)

3.2.1自动扫地机功能设计 (10)

3.2.2自动扫地机硬件框架 (11)

3.2.3自动扫地机软件框架 (12)

3.2.4自动扫地机机械结构 (13)

3.3电机和电池选型 (13)

3.3.1电机选型 (13)

3.3.2电池选型 (14)

4系统硬件电路和软件流程 (16)

4.1机械结构设计 (16)

4.1.1自动扫地机本体设计 (16)

4.1.2传感器配置与安装 (16)

4.1.3运动控制系统结构 (16)

4.2硬件电路设计 (17)