机场地面垃圾清除机器人控制系统设计

摘要机场是航空运输和城市的重要基础设施，良好的机场环境具有非常重要的意义和作用。将融合多种传感器的扫地机器人应用于机场的地面清洁，代替人们进行清洁工作可以提高的清洁工作效率和降低工作成本，具有广阔的市场前景。本设计主要从硬件和软件系统两方面阐述了机器人的设计过程。在硬件方面本设计以STM32F103ZET6单片机作为机器人系统的主控模块，负责逻辑控制和软件层次的规划：以超声波传感器、红外传感器、MPU-6050传感器、光电编码器作为系统的信息采集模块，负责周围环境和机器人状态的采集；以电机及驱动电路作为执行模块负责机器人的运动任务。在软件方面按照执行流程完成信息的采集和发送，通过PID控制、PWM控制实现对电机的控制。传感器不断获取机场环境信息，路径规划算法根据机场环境的信息来控制扫地机器人的运动路线，PID实时输出控制量控制电机的运动，确保扫地机器人运行稳定。最后通过PROTEUS软件对系统控制电路进行仿真，验证了系统控制电路的合理性。关键词：扫地机器人；PID控制：路径规划：AbstractThe airport is an important infrastructure of air transport and the city,and a good airportenvironment has a very important significance and role.The sweeping robot integrated with avariety of sensors is applied to the ground cleaning of the airport,and the cleaning work canimprove the cleaning efficiency and reduce the work cost,which has a broad market prospect.This design mainly describes the design process of robot from hardware and software system.In terms of hardware,the design takes STM32F103ZET6 SU as the main control module ofthe robot system,which is responsible for logic control and software level planning;theultrasonic sensor,infrared sensor,MPU-6050 sensor and photoelectric encoder as theinformation acquisition module for the system and the robot state;and the motor and drivecircuit as the execution module are responsible for the movement task of the robot.In terms ofsoftware,the collection and transmission of information are completed according to theexecution process,and the control of the motor is realized through PID control and PWMcontrol.The sensor constantly obtains the airport environment information,the path planningalgorithm controls the movement route of the sweeping robot according to the information ofthe airport environment,and the PID real-time output control quantity controls the movementof the motor to ensure the stable operation of the sweeping robot.Finally,the system controlcircuit to verify the rationality of the system control circuit.Key words:Sweeping robot;PID control;path planning;n目录摘要Abstract....第1章绪论.…1.1课题研究背景1.2国内外研究现状1.2.1国外研究现状1.2.2国内研究现状1.3选题的目的及意义…31.4主要工作内容3第2章控制系统硬件电路的设计42.1硬件系统的总体框架.42.2控制核心…。42.3传感器的选择52.3.1红外线传感器.52.3.2超声波传感器.62.3.3运动传感器MPU6050.72.4编码器.82.5电机选型与驱动.92.5.1电机选型..92.5.2电机驱动102.6WIFI模块…112.7电源管理模块12第3章控制系统软件设计143.1传感器数据读取143.1.1MPU-6050数据读取143.1.2超声波传感器数据读取153.1.3编码器数据读取163.2电机控制…163.2.1PID控制器163.2.2PWM输出183.3数据发送….18IV