智能移动机器人控制器设计.pdfVIP

移动机器人控制器设计 摘 要 本文介绍了以单片机8051为核心的移动机器人控制器的开发、研制。单片 机扩展外部数据存储器6264，I/O接口扩展芯片8255、驱动和显示芯片等。 控制器采用传感器感知外部环境，并将感知的模拟信号通过模拟/数字转 换芯片得到数字信号，输入单片机8051。8051对数字信号进行处理，按设定程 序进行处理，并由 I/O 口控制信号输出。采用 PWM 方式控制直流电机的转动， 控制移动机器人的行走。设计的机器人具有智能避障，寻找光源等功能。还可 通过改变传感器和相应程序实现其它的功能。 关键词 智能机器人；控制；传感器；模块化设计 ： - I - 移动机器人控制器设计 Abstract This text has introduced the development , reseach of the movement robot controller taking one-chip computer 8051 as the core. The one-chip computer expands memory 6264 of outside data, I/O interface expands the chip 8255, urges and shows chip ,etc.. External environment condition controller adopt sensor perceive, and analog signal that perceive through imitate / figure change chip receive the digital signal, input one-chip computer 8051. 8051 is it punish to go on to the digital signal, is it punish to go on according to the procedure of setting for, and is exported by I/O mouth control signals. Adopt PWM way to control the turning of the direct current machine, control the walking which moves the robot. The robot designed has intelligence to avoid hindering, looks for the functions , such as light source ,etc.. Can also realize other functions through changing the sensor and corresponding procedure. Key words ：intelligent robot; contro; metal sensor; modular design - II - 移动机器人控制器设计 目 录 第一章 前 言 1 第二章 设计思想和研发步骤 2 2.1 设计思想 2 2.2 研发步骤 2 第三章 机器人控制器硬件电路设计 4 3.1 硬件设计总体结构框图 4 3.2机器人的大脑——微控制器（MICROCONTRALLER ） 5 3.2.1 AT89C51单片机简介 5