【正文】 ............................ 11 能源的供給 .................................................................................................... 11 電機(jī)驅(qū)動(dòng)的選擇 ............................................................................................. 12 各模塊的連接 ........................................................................................................... 15 電源驅(qū)動(dòng)模塊與底盤運(yùn)動(dòng)模塊的連接 .............................................................. 15 傳感器模塊與電源驅(qū)動(dòng)模塊的部分連接 .......................................................... 15 計(jì)算機(jī)模塊與傳感器模塊的連接 ..................................................................... 16 傳感器系統(tǒng)的設(shè)計(jì) .................................................................................................... 16 視覺傳感器 .................................................................................................... 17 超聲波傳感器 ................................................................................................. 18 紅外傳感器的設(shè)計(jì) .......................................................................................... 18 3 探測(cè)機(jī)器人硬件系統(tǒng) ......................................................................................................... 19 傳感器采集系統(tǒng) ........................................................................................................ 19 電源保護(hù)電路 ........................................................................................................... 19 超聲波傳感器接線 .................................................................................................... 20 紅外傳感器接線 ........................................................................................................ 21 探測(cè)機(jī)器人計(jì)算機(jī)硬件系統(tǒng) ...................................................................................... 21 電子羅盤的選用 ........................................................................................................ 22 無線電臺(tái)通訊系統(tǒng) .................................................................................................... 22 電機(jī)調(diào)速系統(tǒng)控制原理 ............................................................................................. 22 長(zhǎng)春工業(yè)大學(xué)本科畢業(yè)設(shè)計(jì) 4 救援機(jī)器人軟件系統(tǒng)的開發(fā) ............................................................................................... 23 移動(dòng)控制系統(tǒng)的設(shè)計(jì) ................................................................................................. 23 無線通訊模塊 ........................................................................................................... 24 機(jī)器人與單片機(jī)的通訊 ................................................................................... 25 計(jì)算機(jī)與 AT89S51間的無線通信 ..................................................................... 25 演示控制界面 ........................................................................................................... 25 數(shù)據(jù)顯示 ........................................................................................................ 26 運(yùn)動(dòng)控制 ........................................................................................................ 27 視頻 ............................................................................................................... 27 5 結(jié)論與展望 ....................................................................................................................... 28 ............................................................................................................ 28 ......................................................................................................... 28 參考文獻(xiàn) ................................................................................................................................ 29 附錄 A 電機(jī)控制程序 .............................................................................................................. 31 附錄 B 控制界面源程序 .......................................................................................................... 38 附錄 C 單片機(jī)通信程序開發(fā) ................................................................................................... 40 長(zhǎng)春工業(yè)大學(xué)本科畢業(yè)設(shè)計(jì) 1 1 緒論 引言 近年來，由于自然活動(dòng)、局部戰(zhàn)爭(zhēng)和意外事故等導(dǎo)致的災(zāi)難經(jīng)常發(fā)生。Open the robot。The sensor。 關(guān)鍵詞： 救援機(jī)器人；控制系統(tǒng)；傳感器；模塊化設(shè)計(jì)；開放式機(jī)器人； 長(zhǎng)春工業(yè)大學(xué)本科畢業(yè)設(shè)計(jì) II Abstract In recent years,due to the natural disasters caused by environmental degradation and manmade disasters caused by the war happened very rescue site environment is often plicated,dangerous, changeable,so it is urgent to this environment,adopt the rescue robot coordinated rescue workers to carry on the rescue operation,can have the effect of get twice the result with half the effort. Combination of relief place unstructured environment,this graduation design designed a detecting robot using for robot uses the general open robot system,adopts the modular system performance and functionality can conveniently increase or decrease according to the needs of disaster wireless munication function to allow remote the demonstration control interface can control the robot movement condition with singlechip puter language .The principle of speed control system hardware is based on AT89S51 as the core, including speed measuring circuit, PWM waveform generator and the PWM power amplifier robot USES a variety of sensors work together, to get more accurate detection the crawler walking mechanism, caterpillar has strong driving force, can move on the ladder,low center of gravity and has reliable mechanical system and the intelligent control system, can work under the harsh natural environment at the scene of the disaster relief. Key words:Rescue robot。采用履帶式行走機(jī)構(gòu) ,履帶具有較強(qiáng)的驅(qū)動(dòng)力，可以在階梯上移動(dòng)、重心低而穩(wěn)定。調(diào)速系統(tǒng)硬件原理是以 AT89S51 單片機(jī)為控制核心。在演示控制界面可以 用單片機(jī)語言控制機(jī)器人移動(dòng)狀況。機(jī)器人系統(tǒng)的性能和功能可以根據(jù)救災(zāi)環(huán)境的需要很方便的增減。災(zāi)難救援現(xiàn)場(chǎng)環(huán)境往往是異常復(fù)雜、危險(xiǎn)、多變，救援行動(dòng)刻不容緩，在此種環(huán)境下，采用救援機(jī)器人協(xié)同救援人員，進(jìn)行救援行動(dòng)，能起到事半功倍的作用。長(zhǎng)春工業(yè)大學(xué)本科畢業(yè)設(shè)計(jì) I 摘 要 近年來，由于環(huán)境惡化導(dǎo)致的自然災(zāi)害以及戰(zhàn)爭(zhēng)導(dǎo)致的人為災(zāi)害經(jīng)常發(fā)生。在災(zāi)難發(fā)生后的 48小時(shí)以內(nèi)，是在受災(zāi)現(xiàn)場(chǎng)廢墟中尋找幸存者的