【正文】 I 2021 屆畢業(yè)設(shè)計（論文） 題 目： 光電導(dǎo)引自主式搬運機(jī)器人設(shè)計 專 業(yè)： 測控技術(shù)與儀器 班 級： 測控 1101 姓 名： 指導(dǎo)老師： 起訖日期： 年 月 II 摘 要 機(jī)器人是 一種復(fù)雜的智能機(jī)械，包含了電子、機(jī)械、傳感器、計算機(jī)、仿生學(xué)、控制技術(shù)、人工智能等學(xué)科。目前已成為世界各國的研究熱點之一，是 衡量一國工業(yè)化水平的重要標(biāo)志。 智能移動機(jī)器人 是一個集環(huán)境感知、動態(tài)規(guī)劃與決策、運 動行為控制與執(zhí)行等多種功能與一體的綜合系統(tǒng)，可以說它是機(jī)器人的一個重要的分支。 本文主要介紹了 一種基于光電傳感的移動搬運機(jī)器人的設(shè)計與實現(xiàn)。該機(jī)器人系統(tǒng)選用 stm32f103zet6 單片機(jī)作為微控制器，采用七路灰度傳感器循跡，三路舵機(jī)控制的機(jī)械爪，一個紅外光電開關(guān)測距，一個觸碰開關(guān) ，四個電機(jī)驅(qū)動機(jī)器人直線行駛，轉(zhuǎn)彎。整個機(jī)器人系統(tǒng)涉及機(jī)器人結(jié)構(gòu)設(shè)計，灰度傳感器信號采集處理，機(jī)械爪的結(jié)構(gòu)設(shè)計，循跡 算法和策略優(yōu)化等方面。經(jīng)過多次調(diào)試，比較各種方案的優(yōu)劣，不斷改進(jìn)和升級，確定了現(xiàn)在的方案。 現(xiàn)在該機(jī)器人系統(tǒng)能夠完 整完成自主導(dǎo)航及搬運的任務(wù)，達(dá)到了實驗預(yù)期目的。 關(guān)鍵詞：光電傳感器，搬運機(jī)器人，自主導(dǎo)航，循跡 III ABSTRACT Robotics is a bination of mechanical, electronic, puter, sensors, control technology, artificial intelligence, bionics and other disciplines of plex intelligent machinery, has bee one of the hot spots around the world, as a measure of a country39。s level of industrialization important symbol. Intelligent mobile robot is an important branch of the robot, is a versatile integrated system humanputer interaction, situational awareness, planning and decisionmaking, such as a set of motion control. This paper describes the design and implementation of mobile robot based handling of photoelectric sensors. The robot system selected stm32f103zet6 microcontroller as microcontrollers, sensors tracking the use of seven road gray, threeway servocontrolled mechanical claw, an infrared photoelectric switches ranging, a touch switch, four motordriven robot straight, turning . Entire robot system involving body structure design, gray sensor signal acquisition and processing, structural design of mechanical claw, control algorithms and strategies to optimize other aspects. After several rounds of testing, paring the pros and cons of various options, continuous improvement and upgrading, determine the current program. The robot system can now plete the task of autonomous navigation and transportation, to achieve the intended purpose of the experiment. Keywords: photoelectric sensors, handling robots, autonomous navigation, tracking IV 摘要 ................................................................................................................................ II ABSTRACT ....................................................................................................................III 第一章 緒論 .................................................................................................................... 1 自主式搬運機(jī)器人概述 ...................................................................................... 1 發(fā)展歷史與研究現(xiàn)狀 .......................................................................................... 1 國外發(fā)展 .................................................................................................. 1 國內(nèi)發(fā)展 .................................................................................................. 2 課題研究意義 .................................................................................................... 2 課題研究內(nèi)容 .................................................................................................... 2 第二章 機(jī)器人總體設(shè)計 .................................................................................................. 4 設(shè)計目標(biāo) ........................................................................................................... 4 導(dǎo)航方式 ........................................................................................................... 5 機(jī)械手 ............................................................................................................... 6 機(jī)械手功能 ............................................................................................. 6 機(jī)械手驅(qū)動方式 ...................................................................................... 6 小車驅(qū)動方式 .................................................................................................... 8 電源選擇 ........................................................................................................... 9 微控制器選擇 ...................................................................................................10 測距抓取 ..........................................................................................................10 機(jī)器人整體框圖 ................................................................................................10 第三 章 硬件電路設(shè)計 .....................................................................................................12 微控制器 ..........................................................................................................12 程序下載 ..........................................................................................................12 電源模塊 ..........................................................................................................13 穩(wěn)壓芯片 ................................................................................................13 穩(wěn)壓電路 ................................................................................................13 驅(qū)動模塊 ..........................................................................................................14 電機(jī)驅(qū)動模塊選擇 ..................................................................................14 電機(jī)驅(qū)動電路設(shè)計 ..................................................................................15 灰度檢測模塊 ...................................................................................................17 舵機(jī)控制電路 ...................................................................................................18 碰撞開關(guān) ..........................................................................................................19 紅外光電開關(guān) ..................................................................................................