自动扫地机毕业论文.doc

自动扫地机毕业论文 扫地机的控制系统设计随着社会的发展需要，已经渗透了我们的生活、工作和经济方面，并且起到了很大的作用。MC9S12DG128单片机的自动扫地机数据控制系统。该系统实时性高功能完备，包括信息采集模块、控制模块、清扫模块、运动模块。由碰撞传感器、红外测距传感器等来探测周围的环境，， THE DESIGN OF AUTOMATIC SWEEPING MACHINE DATA CONTROL SYSTEM ABSTRACT Automatic sweeping machine is one part of the serving robot. With the development of society, the serving robot has infiltrated our lives, work and the economy, and has played a significant role. Automatic sweeping is being researched and developed in the countries all over the world, and which is being used widely in the west developed countries. Despite the current areas of research and development at home and abroad in this aspect has made certain achievements, there are still many key technical problems need to be solved or improved. For example, path planning is one of the important technical. This paper presents the system integration and overview of autonomous cleaning robot which is based on MC9S12DG128 singlechip. The real time characteristic and function of the system are in good condition. The system consists four segments: information collection module, the decision module, cleaning module, motion control module. Several sensors such as collision sensor, infrared distance sensors detect the surrounding obstacles while cleaning. The realization of wireless remote manual control function is composed of an infrared receiving head. Two driven wheels are driven by two DC motors combining. It adopts the improved 井 - shaped path traversal method. Experiments show that the control system run well and the robot have the ability to clean the floor automatically. KEYWARDS：singlechip, infrared remote control, automatic move 目录 摘要 I ABSTRACT II 1 绪论 1 1.1 概述 1 1.2选题依据和意义 1 1.3 国内外自动扫地机的发展现状 2 2 MC9S12DG128单片机简介 4 2.1前言 4 2.2引脚说明 4 2.3 操作模式 7 2.4 本系统中的MC9S12DG128单片机 7 3 系统总体设计 9 3.1自动扫地机系统组成 9 3.1.1信息采集模块 9 3.1.2控制模块 9 3.1.3运动模块 10 3.1.4 清扫模块 10 3.2 自动扫地机系统总体设计 10 3.2.1自动扫地机功能设计 10 3.2.2自动扫地机硬件框架 11 3.2.3自动扫地机软件框架 12 3.2.4自动扫地机机械结构 13 3.3电机和电池