自主行走机器人小车的软硬件研究

文档编号:DQ239   文档字数:13774,页数:31

摘要：本文通过对ARM开发和研究，实现移动机器人小车自主行走，速度反馈和红外线避障的功能。
 小车系统的组成主要包括避障传感器部分，电机控制部分，速度反馈部分以及ARM嵌入式系统核心控制部分。避障传感器系统采用红外线技术，主要完成对障碍物的感应；移动机器人小车的电机控制转速部分采用步进电机作为电机首选；还有速度反馈的部分，由于ARM板内部没有记数的功能，我们就设计了传感器数据读取的一个系统。最后，贯穿整篇文章的是对机器人的核心部分（基于ARM嵌入式系统）的研究和设计，主要让操作系统完成控制功能（主要是通过接收避障系统感应外界环境所返回的信号，进而控制运动控制系统，从而完成一个自主运动的智能功能）。
关键词：ARM板；自主行走；红外线感应；嵌入式操作系统；电机

Abstract:The main idea of the Thesis is passed developing and studying to ARM, Realize the Function of displacement robot handcart going autonomously, Speed couples back and Infrared ray avoids blocker.
Systematic composition includes a handcart mainly avoiding blocker sensor part, Electric motor control section, Speed couples back part and ARM implants dyadic system core control section. Avoid blocker sensor system adopt the infrared ray technology, Accomplish the induction to obstruction mainly. The rotation rate part displacement robot handcart electric motor is controlled adopt step-by-step electric motor to elect as the electric motor head, Since not having mark number function in the inside of ARM board,we have designed a system that the sensor data fetches right away, Through the entire sheet article's finally, is to study and design that (owing to that ARM implants style systematically) to robotic core part, Dodging OS mainly to accomplish a control function (is by the fact that taking-over avoids meeting signal returned to by blocker system induced the external world environment mainly , controls motion navar then , accomplishes a intelligence function acting on self's own moving thereby).
Keywords：ARM board； Going autonomously；Infrared ray induction； Embedded Operation Syetem,；Electric motor

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