【正文】 自主移動(dòng)機(jī)器人小車設(shè)計(jì) I 自主移動(dòng)機(jī)器人小車設(shè)計(jì) 摘 要 智能作為現(xiàn)代社會(huì)的新產(chǎn)物，是以后的發(fā)展方向， 智能 就是 按照預(yù)先設(shè)定的模式在一個(gè)特定的環(huán)境里自動(dòng)的運(yùn)作，無(wú)需人為管理，便可以完成預(yù)期所要達(dá)到的或是更高的目標(biāo)。 本設(shè)計(jì)采用凌陽(yáng)超聲波測(cè)距模塊檢測(cè)小車與障礙物的距離并語(yǔ)音提示，以凌陽(yáng) SPCE061A單片機(jī)為控制芯片控制機(jī)器人小車的移動(dòng)及 轉(zhuǎn)向，來(lái)實(shí)現(xiàn)小車的自動(dòng)避障和報(bào)警功能。其中 小車 驅(qū)動(dòng)由 L298N驅(qū)動(dòng)電 路來(lái)完成 。 關(guān)鍵詞 自主移動(dòng) 避障 SPCE061A單片機(jī) L298N 超聲波 自主移動(dòng)機(jī)器人小車設(shè)計(jì) II Independent Mobile Robot Car Design ABSTRACT Intelligent as modern society of new product, is the development direction of the future, intelligence is that according to the predetermined pattern in a specific environment to be automatic operation, no user management, then can be expected to finish what you are trying to achieve the goal. This design use the sunplus ultrasonic ranging module testing the car and obstacles distance and voice prompt to sunplus SPCE061A microprocessor control chip for control of the robot car moves and steering, to realize the automatic obstacle avoidance and car alarm function. Among them the small car driven by L298N drive circuit to plete. KEY WORDS the independent movement， obstacle avoidance， SPCE061A， L298N ultrasonic 目 錄 中文摘要 ...............................................................................................................................................I 英文摘要 ............................................................................................................................................. II 1 緒論 ................................................................................................................................................... 1 機(jī)器人小車的意義和作用 ......................................................................................... 1 機(jī)器人小車的現(xiàn)狀 ........................................................................................................ 1 2 方案設(shè)計(jì) ........................................................................................................................................ 3 主控系統(tǒng)的比較與選擇 .............................................................................................. 3 避障單元的比較與選擇 .............................................................................................. 3 電機(jī)驅(qū)動(dòng)模塊的比較與選擇 ................................................................................... 3 驅(qū)動(dòng)電機(jī) 的 比較與選擇 ............................................................................................. 4 電源模塊 的 比較與選擇 .............................................................................................. 5 系統(tǒng)總體框圖 ................................................................................................................... 5 3 硬件設(shè)計(jì) ........................................................................................................................................ 6 SPCE061A 芯片的特點(diǎn)及其功能 ............................................................................ 6 SPCE061A 芯片內(nèi)核結(jié)構(gòu) ............................................................................................ 7 SPCE061A 的語(yǔ)音播報(bào)功能 ........................................................................................ 7 超聲波測(cè)距模塊 .............................................................................................................. 8 超聲波測(cè)距模組的電路原理圖 ........................................................................... 10 超聲波電源 接口 ...................................................................................................... 11 測(cè)距程序流程圖 ...................................................................................................... 12 L298N 電機(jī)驅(qū)動(dòng)模塊 .................................................................................................. 12 L298N 主要特點(diǎn) ........................................................................................................ 14 電機(jī)驅(qū)動(dòng)模塊連接圖 ............................................................................................. 14 4 軟件設(shè)計(jì) ...................................................................................................................................... 16 軟件調(diào)試平臺(tái) ................................................................................................................. 16 程序設(shè)計(jì)流程圖 ............................................................................................................ 17 5 制作安裝與調(diào)試 ...................................................................................................................... 18 硬件制作 ............................................................................................................................ 18 系統(tǒng)調(diào)試 ............................................................................................................................ 19 硬件調(diào)試 .................................................................................................................... 19 軟件調(diào)試 .................................................................................................................... 21 聯(lián)合調(diào)試 .................................................................................................................... 21 本系統(tǒng)存在的問題 .................................................................................................. 21 本系統(tǒng)可行的改進(jìn)措施 ......................................................................................... 21 結(jié)束語(yǔ) ................................................................................................................................................. 22 致 謝 ................................................................................................................................................. 23 參考文獻(xiàn) ............................................................................................................................................ 24 附 錄 .......................