基于arm控制器的清潔機器人的研究

1、分類號：密級：學號：2006073單位代碼：10407碩士學位論文論文題目:基于基于ARM控制器的清潔機器人的研究控制器的清潔機器人的研究研究方向智能儀器與自動化裝置智能儀器與自動化裝置專業(yè)名稱控制理論與控制工程控制理論與控制工程研究生姓名王忠鋒王忠鋒導師姓名、職稱王祖麟教授王祖麟教授20082008年1212月1212日江西贛州IIABSTRACTABSTRACTAsastofservicerobotthecleaningrobotc

2、anrelievepeoplefromtheheavycleaningwkwillbewidelyusedinourfuturelife.Thecleanerassociatesmobilerobotwithcleanerinvolvesinmanyrelatedfieldssuchasmechanismelectronicscomputerscience.Itisanewresearchfieldofservicerobotwhich

3、containshightechnologiesattractsattentionfromdomesticabroad.Thisthesisdevelopsacleaningrobotgoesdeeplyintothepathplanningtechnologyofcleaningrobot.Themaincontributionofthisthesisisasfollows:Firstthecrelativeconceptsofrob

4、otsareexpatiated.Thecurrentsituationdevelopingdirectionofcleaningrobotsbothinthedomesticabroadareanalyzedinthethesis.Subsequentlytheresearchbackgroundsmeaningmaincontentofthethesisareexpounded.Secondhardwaresoftwaredesig

5、nfonekindofcleaningrobotisachieved.Itcontainsmechanicalcontrollingsystem.Hardwaredrawingthedesignofthesystemsoftwaresysteminstallingadjustingarethemainparts.ThirdAutonomouscleaningrobotprototypepoweredbyultrasonicmotsdir

6、ectlybasedoncecontrollerARMisdesignedimplemented.Threewheelmobilemachineofcircularshapesuitedsizeflexiblemovementisdesignedasmechanicalbaseoftherobot.Detectioncontrolsystemcircuitsoftherobotincludingpowersupplycircuitmot

7、controlcircuitpulsecodingcircuitinfraredacquisitioncircuitultrasoniccircuitbumpswitchescircuitkeyboardcircuitLCDdisplaycircuitbasedonARMLPC2131FBDaredesigneddevelopeddebugged.Intheprocessofinfrareddetectioncircuitdebuggi

8、ngsomeacteristicsofinfraredsignalmodulatingaresummarized.FourthConsideringthetaskrequirementstheactualsensatysystemofcleaningrobotapathplanningschemebaseonobstacleavoidingofcleaningrobotinunknownenvironmentsisproposedpra