吸尘器机器人的设计.doc

摘 要

首先，本文简述了机器人和移动机器人的概念以及吸尘器机器人的研究意义。然后，本文对所设计的机器人的控制系统进行了研究，建立了基于双轮独立驱动系统的数学模型，并确定了控制系统的各个模块。接下来本文重点叙述了控制器模块、传感器模块和电机驱动模块的设计。对于控制器模块，首先简述了ATMEGE16型微控制器的性能指标，然后设计了其基本电路。对于传感器模块，首先简述了红外传感器的性能，然后研究了其在车体上的分布和其本身的硬件结构，最后对红外发射电路和接收电路进行了设计。对于电动机驱动模块，首先对直流电动机PWM控制进行了研究，然后设计了电动机的驱动电路，并简述了使用ATMEGE16产生PWM信号的方法。
关键词：移动机器人； ATMEGA16微控制器；红外传感器；直流电动机PWM控制；L298N。
Abstract

First, this paper describes the concept of robot and mobile robot and the significance of the study of robot vacuum cleaner. And then, this paper studies the control system of the robot that is designed, and establishes the mathematical model that based on the two-wheel independent drive system, follows with the description of the modules of the control system. At the last part, this paper focuses on the design of the controller module, the sensor module, and the motor driver module. For the controller module, the property of the ATMEGA16 microcontroller is described at first, and then its basic circuit is designed. For the sensor module, first describes the performance of the infrared sensor, then studies the hardware structure of itself and the distribution of them, and design the infrared emitter circuit and the receiver circuit. For the motor drive module, the DC motor PWM control is studied at first, then the driving circuit is designed, and how to provide PWM signal with the ATMEGA16 is described at last.
Keywords: mobile robot; ATMEGA16; infrared sensor; DC motor PWM control; L298N.

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