扫地机的数据控制系统设计-本科毕业设计说明书

本科毕业设计说明书扫地机的数据控制系统设计THEDESIGNOFAUTOMATICSWEEPINGMACHINEDATACONTROLSYSTEM学院（部）：电气与信息工程学院专业班级：电气####学生姓名：######指导教师：###########年月日安徽理工大学毕业设计I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，自动行走安徽理工大学毕业设计IITHEDESIGNOFAUTOMATICSWEEPINGMACHINEDATACONTROLSYSTEMABSTRACTAutomaticsweepingmachineisonepartoftheservingrobot.Withthedevelopmentofsociety,theservingrobothasinfiltratedourlives,workandtheeconomy,andhasplayedasignificantrole.Automaticsweepingisbeingresearchedanddevelopedinthecountriesallovertheworld,andwhichisbeingusedwidelyinthewestdevelopedcountries.Despitethecurrentareasofresearchanddevelopmentathomeandabroadinthisaspecthasmadecertainachievements,therearestillmanykeytechnicalproblemsneedtobesolvedorimproved.Forexample,pathplanningisoneoftheimportanttechnical.ThispaperpresentsthesystemintegrationandoverviewofautonomouscleaningrobotwhichisbasedonMC9S12DG128singlechip.Therealtimecharacteristicandfunctionofthesystemareingoodcondition.Thesystemconsistsfoursegments:informationcollectionmodule,thedecisionmodule,cleaningmodule,motioncontrolmodule.Severalsensorssuchascollisionsensor,infrareddistancesensorsdetectthesurroundingobstacleswhilecleaning.Therealizationofwirelessremotemanualcontrolfunctioniscomposedofaninfraredreceivinghead.TwodrivenwheelsaredrivenbytwoDCmotorscombining.Itadoptstheimproved井-shapedpathtraversalmethod.Experimentsshowthatthecontrolsystemrunwellandtherobothavetheabilitytocleanthefloorautomatically.KEYWARDS：automaticsweepingmachine,singlechip,infraredremotecontrol,automaticmove安徽理工大学毕业设计i目录摘要.............................................................................................................................................IABSTRACT.............................................................................................................................II1绪论........................................................................................................................................11.1概述..............................................................................................................................11.2选题依据和意义...........................................................................................................11.3国内外自动扫地机的发展现状..................................................................................22MC9S12DG128单片机简介..................................................................................................42.1前言...............................................................................................................................42.2引脚说明.......................................................................................................................42.3操作模式......................................................................................................................72.4本系统中的MC9S12DG128单片机..........................................................................73系统总体设计........................................................................................................................93.1自动扫地机系统组成...................................................................................................93.1.1信息采集模块.....................................................................................................93.1.2控制模块.............................................................................................................93.1.3运动模块...........................................................................................................103.1.4清扫模块..........................................................................................................103.2自动扫地机系统总体设计........................................................................................103.2.1自动扫地机功能设计.......................................................................................103.2.2自动扫地机硬件框架.......................................................................................113.2.3自动扫地机软件框架.......................................................................................123.2.4自动扫地机机械结构.......................................................................................133.3电机和电池选型.........................................................................................................133.3.1电机选型...........................................................................................................133.3.2电池选型...........................................................................................................144系统硬件电路和软件流程...................................................................................................164.1机械结构设计......................................................................................