簡(jiǎn)易智能電動(dòng)車設(shè)計(jì)

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目錄
目錄 2
簡(jiǎn)易智能電動(dòng)車設(shè)計(jì)要求 3
一、任務(wù) 3
二、要求 3
三、評(píng)分標(biāo)準(zhǔn) 4
四、說明 4
簡(jiǎn)易智能電動(dòng)車設(shè)計(jì)論文 5
摘要 5
Abstract 5
1 方案設(shè)計(jì)與論證 6
1.1 小車本體 6
1.2 主控單元 6
1.3 信息感知單元 7
1.4 驅(qū)動(dòng)單元 8
1.5 人機(jī)接口單元 8
1.6策略的選擇 8
2 理論設(shè)計(jì) 10
2.1 小車本體設(shè)計(jì) 10
2.2 小車主控系統(tǒng)設(shè)計(jì) 11
2.3 信息感知單元的設(shè)計(jì) 13
2.4 電機(jī)驅(qū)動(dòng)單元 19
3 特色與創(chuàng)新 20
3.1 串行掃描實(shí)現(xiàn)的人機(jī)接口 20
3.2 避障單元的設(shè)計(jì) 20
3.3 尋光雷達(dá)及小車位姿控制 20
4 調(diào)試過程及測(cè)試數(shù)據(jù)分析 21
4.1 調(diào)試儀器儀表 21
4.2 調(diào)試數(shù)據(jù)及分析 21
參考文獻(xiàn) 23

摘要
本設(shè)計(jì)基于計(jì)算機(jī)控制技術(shù)、單片機(jī)技術(shù)、傳感器技術(shù)、智能控制技術(shù)、機(jī)電一體化技術(shù)及機(jī)器人學(xué)研制了一個(gè)能自動(dòng)尋線、識(shí)別并測(cè)量鐵片、避障、自主規(guī)劃路徑的智能電動(dòng)小車。論文分析了小車本體、主控系統(tǒng)、信息感知單元、驅(qū)動(dòng)單元等模塊的理論論證、設(shè)計(jì)與調(diào)試過程，并結(jié)合實(shí)際調(diào)試過程的分析，詳細(xì)闡述了小車整個(gè)行駛過程中的運(yùn)動(dòng)參數(shù)的規(guī)劃與實(shí)現(xiàn)。本設(shè)計(jì)在特色部分論文分析了以Mega8芯片為主基于概率分析的避障單元的設(shè)計(jì)與實(shí)現(xiàn)，串行掃描方式實(shí)現(xiàn)的人機(jī)接口，尋光雷達(dá)，小車位姿控制等內(nèi)容。
本設(shè)計(jì)的理論設(shè)計(jì)方案、調(diào)試方法、測(cè)試數(shù)據(jù)分析方法及設(shè)計(jì)中的特色與創(chuàng)新點(diǎn)等對(duì)自動(dòng)運(yùn)輸機(jī)器人、家用清潔機(jī)器人、滅火機(jī)器人等自主及半自主機(jī)器人的設(shè)計(jì)與實(shí)現(xiàn)有一定的參考意義。
關(guān)鍵詞：兩輪小車 光電尋線 PWM調(diào)速 尋光雷達(dá) 路徑規(guī)劃 自適應(yīng) 位姿控制
Abstract
Based on the computer control theory, MPU technology, sensing technology, intelligent control theory, mechatronics and Robotics, we have designed a little intelligent electro-drive car which can trace black lines automatically, identify iron and then measure its size. This little car also have the ability of obstacle avoidance, route planning, distance measuring etc .
In our thesis, we give the details of the theoretic formulating, designing, debugging of our car’s main body, it’s main control system, it’s information perceiving unit, driving unit and it’s motion strategy. With the analysis of our debugging process, we give the planning of the car’s motion parameters which must be considered during the car’s whole task.
In Part 3, we show our innovative points: Probability analysis based obstacle avoidance unit, human-machine interface based on serial scanning method, light-seeking radar, and self-adaptive position control.
Finally, we think our work could have a profound influence on the design and implementation of fully-autonomy or semi-autonomy robot such as autonomic transport robot, fire-fighting robot, home clearing robot, etc.
Keywords: 2-wheel vehicle, PWM, light seeking radar, route planning, self-adaptive