室内智能清洁机器人控制系统设计

室内智能清洁机器人控制摘要室内智能清扫机器人本身具备有传感器检测、移动机器人功能，可以实现室内地面的自主化清洁，当按下启动键清洁机器人开始工作，这样就可以减轻家务人员的劳动量，在科技家具市场发展潜力巨大。本文对现阶段室内智能清扫机器人研发现状进行了综述，总结国内外在该领域的成果与进展情况，在与其他相关机器人的基础上，设计出了一种方便家务人员打扫地面卫生的可行性方案。清扫机器人由一个底盘，三个滚动的轮子及各种传感器组成。考虑到成本问题及可靠性能等，主控器选择了宏晶科技公司的STC89C52单片机，具有功能性和经济性兼顾的优点，且满足可控性强的要求。着重设计了红外避障传感器，液晶显示，红外台阶检测传感器以及清扫吸尘电机控制等电路。关键词：清洁机器人：智能控制：单片机系统Control system design of Indoor Intelligent CleaningRobotABSTRACTIndoor intelligent cleaning robot itself has a sensor detection,mobile robot function,canrealize the autonomous cleaning of indoor floors,when the start button cleaning robot began towork,so as to reduce the amount of houseworkers'labor,in the technology furniture marketdevelopment potential is huge.This paper reviews the current stage of research and development of indoor intelligentcleaning robot,summarizes the achievements and progress in this field at home and abroad,anddesigns a feasible solution to facilitate houseworkers to clean the floor hygiene on the basis ofother related robots.The cleaning robot consists of a chassis,three rolling wheels and various sensors.Considering the cost issue and reliable performance,etc.,the main controller is selected fromthe STC89C52 microcontroller of Macrochip Technology,which has the advantages of bothfunctionality and economy,and meets the requirements of strong controllability.The designfocuses on the infrared obstacle avoidance sensor,LCD display,infrared step detection sensor,and sweeping and vacuuming motor control circuits.Key Words:cleaning robot;intelligent control:MCU system目录摘要ABSTRACT1绪论11课题设计的研究背景、目的与意义…12国内外研究发展现状与趋势12.1国外研究发展现状与趋势.…12.2国内研究发展现状与趋势22清洁机器人的总体设计….22.1清洁机器人硬件总体设计32.2清洁机器人本体硬件结构..33清洁机器人硬件电路设计…。.53.1单片机系统电路设计3.1.1时钟电路…53.12复位电路….63.2直流电机驱动电路设计.632.1左右轮电机驱动电路.63.22清洁机构电机驱动电路.733传感器电路设计.733.1红外线避障传感器.733.2红外台阶检测传感器….83.4LCD显示屏.84清洁机器人软件程序设计….94.1清洁机器人软件总体设计94.2驱动电机控制程序.114.2.1电机正反转控制..115仿真调试….125.1系统仿真设计.….125.1.1软件介绍.125.1.2仿真调试.126结论与展望6.1结论196.2展望19参考文献20附录20致谢.…27