智能避障小车毕业设计论文

智能避障机器人设计与研究（硬件）

摘要

在科学探索和紧急抢险中经常会遇到对一些危险或人类不能直接到达的地域的探测，这些就需要用机器人来完成。而机器人在复杂地形中行进时自动避障是一项必不可少也是最基本的功能。因此，自动避障系统的研发就应运而生。自动避障机器人就是基于这一系统开发而成的。随着科技的发展，对于未知空间和人类所不能直接到达的地域的探索逐步成为热门，这就使机器人的自动避障有了重大的意义。自动避障机器人可以作为地域探索机器人和紧急抢险机器人的运动系统，让机器人在行进中自动避过障碍物。

本文提出了一种经济实用的智能避障机器人系统设计方法，采用了小车底盘作为载体、直流电机作为执行元件、红外传感器作为检测元件、STC89C52单片机作为主控芯片、L298N作为驱动芯片和稳压电源芯片完成了检测电路设计、主控电路设计、电机驱动电路设计、稳压电路设计等硬件设计和制作，并对系统进行了仿真和综合调试，解决了一系列的难题，成功实现了自动避障功能。

关键词：智能避障机器人，红外传感器，单片机，L298N，PWM调速

I

THE DESIGN AND STUDY OF INTELLIGENT

OBSTACLE AVOIDANCE ROBOT(HARDWARE)

ABSTRACT

In scientific exploration and emergency rescue often encounter some danger or human can not directly reach the area of detection, these will need to use the robot to complete. The robot's automatic obstacle avoidance movement in complex terrain is an essential and most basic function. Therefore, the automatic obstacle avoidance system development is made. Automatic obstacle avoidance robot development based on this system is made of. With the development of technology for the unknown space and mankind can not be directly accessible to gradually become a hot area of exploration, which makes the automatic obstacle avoidance robot has great significance. Automatic obstacle avoidance robot can serve as a regional exploration and emergency rescue robot system that allows robots to automatically avoid obstacles in the road.

This paper presents an economical and practical design of intelligent obstacle avoidance robot system, using the car chassis as the carrier, the DC motor as the actuator, infrared sensors as detection devices, STC89C52 microcontroller as the main chip, L298N as the driver chip and regulated power supply chip to complete the detection circuit design, master control circuit design, motor driver circuit design, voltage regulator circuit design of hardware design and production. A lot of simulation and integrated debugging have been done to the system and a series of problems have been solved. Finally, the automatic obstacle avoidance function is accomplished successfully.

II

KEY WORDS：Intelligent obstacle avoidance robot, infrared sensor, MCU, L298N, PWM speed adjusting

III

IV

目录

前言 (1)

第1章系统总体方案设计 (4)

§1.1 系统任务描述 (4)

§1.2 控制系统要求 (4)

§1.3 方案设计与论证 (4)

§1.3.1 机器人载体选择 (4)

§1.3.2 主控制器选择 (5)

§1.3.3 传感器选择 (5)

§1.3.4 电机驱动选择 (6)

§1.3.5 稳压电源选择 (7)

§1.3.6 智能小车最终方案 (7)

§1.4 系统总体设计 (8)

§1.4.1 系统组成 (8)

§1.4.2 系统工作原理 (8)

§1.5 本章小结 (9)

第2章硬件设计 (10)

§2.1 主控电路设计 (10)

§2.1.1 STC89C52单片机硬件结构简介 (10)

§2.1.2 最小应用系统设计 (12)

§2.2 电机驱动电路的设计 (15)

§2.2.1 智能小车驱动电机的要求 (15)

§2.2.2 直流电机调速原理 (16)

§2.2.3 L298N电机驱动原理 (17)

§2.3 障碍物检测电路设计 (22)

§2.4 报警电路设计 (23)

§2.5 稳压电源电路设计 (24)

§2.6 系统整体电路设计 (25)

V