基于单片机的足球机器人小车系统设计

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基于单片机的足球机器人小车系统设计Car System Design of Soccer Robot

Based on SCM

焦作大学

焦作大学毕业设计摘要

摘要

足球机器人是人工智能与机器人领域极富挑战性的高技术密集项目，它涉及机械、计算机、自动化、电子、传感器信息、图象处理、无线网络等高技术。同时又是人工智能技术的一个理想突破点。机器人踢足球，看似游戏，其实展示了一个国家信息和自动化技术的综合实力。足球机器人系统在许多领域有着广泛的应用前景，比如，高校和科研院所的教学和科研；无人驾驶飞机群的编队控制及与敌方的辅助攻防对抗等，国内许多高校都开展了机器人足球的研究，并自1999年起分别在哈尔滨工业大学、上海交大等高校成功地举行了数次全国机器人足球竞赛，但我国的中型组足球机器人比赛所用的平台都是从国外进口，所谓的比赛只能称之为软件上的对抗。

本次设计从最基本的硬件开发做起，在原有的基础上进行了一系列的改进，设计依然采用MCS-51单片机作为足球机器人的微处理器，它结构简单，性能稳定，引脚数量多。小车的驱动方面有采用双电机做为动力，四轮配置，PWM调速，使机器人的机动性能、灵活性、灵敏度等都有了大副度的提高；赛场的信息采集使用了并行口A/D模数转换，使得机器人对赛场信息把握更为及时；小车的通讯方面，采用了BIM-418(433)-F无线收发模块，使机器人足球队整体配合更为默契。软件方面用C语言来编写，为以后的小车系统改进提高打下基础。

关键词：足球机器人小车；单片机；PWM调速；A/D数模转换

焦作大学毕业设计Abstract

Abstract

Soccer robots and artificial intelligence robot is a very challenging field of high technology-intensive projects,involving machinery,computer,automation,electronics, sensors,image processing,wireless networks,and other high-tech.At the same time artificial intelligence technology is a good breakthrough.Robot soccer,the game appears,in fact,display a national information and automation technology's overall strength.Soccer Robot system in many areas have a wide application,for example, universities and research institutes of teaching and scientific research,unmanned aircraft and the control group and the formation of supporting the enemy offensive and defensive combat,many domestic colleges and universities have developed machines A-side soccer studies,and since1999,in Harbin Institute of Technology,Shanghai Jiaotong University and other colleges and universities successfully held a number of National Robot Soccer Competition,but our group of medium-sized robot soccer competition using the platform are imported from abroad,Competition can only be referred to as the so-called software on the confrontation.

The basic design of the hardware development from the start,in the original on the basis of a series of improvements,the design still used as a SCM MCS-51soccer robot's microprocessor,its structure is simple,stable performance,Reply Large number of feet. Trolley drivers have a dual motor as a driving force,four-wheel configuration,PWM speed control so that the robot's mobility,flexibility,sensitivity and so has the University Pro-Vice-degree improvement in the information collection stadium used the parallel port A/D analog-digital conversion,making the stadium robot grasp more timely information;vehicle of communication,using a BIM-418(433)-F wireless transceiver modules,the robot soccer team as a whole with more understanding. C-language software used to prepare for the future of the trolley system to lay a foundation for improving the increase.

Keyword:Robot Soccer car,SCM,PWM speed control,A/D DAC