畢業(yè)設(shè)計(jì)-基于單片機(jī)的足球機(jī)器人小車系統(tǒng)設(shè)計(jì)(已修改)
2025-06-22 16:02 本頁(yè)面
【正文】 中圖分類： TP273 密級(jí)： 無(wú) UDC： 單位代碼： 基于單片機(jī)的足球機(jī)器人小車系統(tǒng)設(shè)計(jì) Car System Design of Soccer Robot Based on SCM 焦作大學(xué) 姓 名 李小朋 學(xué) 制 3 年 專 業(yè) 電氣自動(dòng)化技術(shù) 研究方向 自動(dòng)化技術(shù) 導(dǎo) 師 趙路民 職 稱 工程師 論文提交日期 論文答辯日期 焦作大學(xué)畢業(yè)設(shè)計(jì) 摘 要 1 摘 要 足球機(jī)器人是人工智能與機(jī)器人領(lǐng)域極富挑戰(zhàn)性的高技術(shù)密集項(xiàng)目，它涉及機(jī)械、計(jì)算機(jī)、自動(dòng)化、電子、傳感器信息、圖象處理、無(wú)線網(wǎng)絡(luò)等高技術(shù)。同時(shí)又是人工智能技術(shù)的一個(gè)理想突破點(diǎn)。機(jī)器人踢足球，看似游戲，其實(shí)展示了一個(gè)國(guó)家信息和自動(dòng)化技術(shù)的綜合實(shí)力。足球機(jī)器人系統(tǒng)在許多領(lǐng)域有著廣泛的應(yīng)用前景，比如，高校和科研院所 的教學(xué)和科研；無(wú)人駕駛飛機(jī)群的編隊(duì)控制及與敵方的輔助攻防對(duì)抗等 ， 國(guó)內(nèi)許多高校都開展了機(jī)器人足球的研究 ， 并自 1999年起分別在哈 爾濱工業(yè)大學(xué)、上海交大等高校成功地舉行了數(shù)次全國(guó)機(jī)器人足球競(jìng)賽 ， 但我國(guó)的中型組足球機(jī)器人比賽所用的平臺(tái)都是從國(guó)外進(jìn)口，所謂的比賽只能稱之為軟件上的對(duì)抗。 本次設(shè)計(jì)從最基本的硬件開發(fā)做起，在原有的基礎(chǔ)上進(jìn)行了一系列的改進(jìn)，設(shè)計(jì)依然采用 MCS51 單片機(jī)作為足球機(jī)器人的微處理器，它結(jié)構(gòu)簡(jiǎn)單，性能穩(wěn)定，引腳數(shù)量多。小車的驅(qū)動(dòng)方面有采用雙電機(jī)做為動(dòng)力，四輪配置， PWM 調(diào)速，使機(jī)器人的機(jī)動(dòng)性能、靈活性、靈敏度等都有了大副度的提高；賽場(chǎng)的信息采集使用了并行口 A/D 模數(shù)轉(zhuǎn)換，使得機(jī)器人對(duì)賽場(chǎng)信息把握更 為及時(shí)；小車的通訊方面，采用了 BIM418(433)F無(wú)線收發(fā)模塊 ，使機(jī)器人足球隊(duì)整體配合更為默契。軟件方面用 C語(yǔ)言來(lái)編寫 ，為以后的小車系統(tǒng)改進(jìn)提高打下基礎(chǔ) 。 關(guān)鍵 詞 ：足球機(jī)器人小車 ； 單片機(jī) ； PWM 調(diào)速 ； A/D 數(shù)模轉(zhuǎn)換 焦作大學(xué)畢業(yè)設(shè)計(jì) Abstract 2 Abstract Soccer robots and artificial intelligence robot is a very challenging field of high technologyintensive projects, involving machinery, puter, automation, electronics, sensors, image processing, wireless works, and other hightech. At the same time artificial intelligence technology is a good breakthrough. Robot soccer, the game appears, in fact, display a national information and automation technology39。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 bat, many domestic colleges and universities have developed machines Aside soccer studies, and since 1999, 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 mediumsized robot soccer petition using the platform are imported from abroad, Competition can only be referred to as the socalled 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 MCS51 soccer robot39。s microprocessor, its structure is simple, stable performance, Reply Large number of feet. Trolley drivers have a dual motor as a driving force, fourwheel configuration, PWM speed control so that the robot39。s mobility, flexibility, sensitivity and so has the University ProVicedegree improvement in the information collection stadium used the parallel port A / D analogdigital conversion, making the stadium robot grasp more timely information。 vehicle of munication, using a BIM418 (433)F wireless transceiver modules, the robot soccer team as a whole with more understanding. Clanguage 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 焦作大學(xué)畢業(yè)設(shè)計(jì) 目錄 3 目 錄 摘要 1 Abstract 2 1 足球機(jī)器人的總體設(shè)計(jì) 1 引言 1 機(jī)器人的總體介紹 1 機(jī)器人移動(dòng)方式的選擇 1 機(jī)器人電路硬件選擇 2 傳感器元件及轉(zhuǎn)換元件選擇 2 機(jī)器人運(yùn)行算法的構(gòu)想 3 2 動(dòng)力驅(qū)動(dòng)及硬件電路 設(shè)計(jì) 7 動(dòng)力驅(qū)動(dòng)部件與運(yùn)動(dòng)方式設(shè)計(jì) 7 2． 2機(jī)器人的車輪配置和操舵方式 7 硬件電路設(shè)計(jì) 8 機(jī)器人系統(tǒng)結(jié)構(gòu) 8 主控部分硬件電路 [3] 9 傳感器部分硬件電路 1
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