【摘要】：目前,機器人成為全世界重點發(fā)展的熱門領(lǐng)域,各項研究也開展的十分活躍。在我國,機器人產(chǎn)業(yè)已經(jīng)成為政府重點培植的下一個新型高科技產(chǎn)業(yè),成為我國加快新一輪經(jīng)濟(jì)結(jié)構(gòu)調(diào)整和產(chǎn)業(yè)升級的重要方向和支撐。隨著機器人研究的不斷發(fā)展,各類機器人競賽也受到了國內(nèi)外的大力支持,機器人競賽的舉辦對于培養(yǎng)參賽人員的創(chuàng)新精神、團(tuán)結(jié)協(xié)作精神,為機器人領(lǐng)域輸送新鮮血液,以及推動機器人技術(shù)的普及和發(fā)展都有重大意義。本文以中國教育機器人競賽為研究背景,以微小型機器人為研究對象載體,研究了微小型機器人的隱形導(dǎo)航技術(shù)。針對原系統(tǒng)導(dǎo)航過程中視覺美感不足的問題,研究分析了不同傳感器的原理及優(yōu)缺點,創(chuàng)新性地提出了競技機器人導(dǎo)航的隱形化設(shè)計方案。在群機器人項目的通信實現(xiàn)方案中,研究分析并設(shè)計了ZigBee無線網(wǎng)絡(luò),實現(xiàn)穩(wěn)定高效的數(shù)據(jù)傳輸。系統(tǒng)的硬件架構(gòu)采用了模塊化設(shè)計,主要模塊有：以Arduino處理器為核心的主控制器模塊,電感式傳感器與RFID系統(tǒng)共同組成的路徑檢測模塊、XBee通信模塊和電機驅(qū)動模塊。確定系統(tǒng)的硬件架構(gòu)后,設(shè)計了各模塊的驅(qū)動程序并完成了系統(tǒng)主程序的開發(fā)。結(jié)合以上研究,對系統(tǒng)進(jìn)行了性能測試,并在競賽中取得了優(yōu)異成績。根據(jù)調(diào)試過程中發(fā)現(xiàn)的擴展口和任務(wù)處理問題,優(yōu)化改進(jìn)了系統(tǒng)方案：主控制器采用性能更好的LM3S1138處理器以及移植了嵌入式μC/OS-Ⅱ?qū)崟r操作系統(tǒng)。最后對改進(jìn)方案進(jìn)行了具體的設(shè)計,經(jīng)測試證明經(jīng)改進(jìn)的機器人平臺具有良好的實時性和擴展性。
[Abstract]:At present, robot has become a hot field in the world, and the research is very active. In our country, the robot industry has become the next new high-tech industry, which is the focus of the government. It has become an important direction and support for speeding up the new round of economic structure adjustment and industrial upgrading in China. With the continuous development of robot research, all kinds of robot competitions have been greatly supported at home and abroad. It is of great significance to promote the popularization and development of robot technology. In this paper, the invisible navigation technology of micro robot is studied with Chinese educational robot competition as the research background and micro robot as the research object carrier. Aiming at the problem of insufficient visual aesthetic sense in the navigation process of the original system, the principle, advantages and disadvantages of different sensors are studied and analyzed, and the invisible design scheme of navigation for competitive robot is put forward innovatively. In the communication scheme of the Swarm Robot Project, the ZigBee wireless network is studied and designed to achieve stable and efficient data transmission. The hardware architecture of the system adopts modularization design. The main modules are: the main controller module based on Arduino processor, the path detection module composed of inductance sensor and RFID system, the XBee communication module and motor driving module. After determining the hardware structure of the system, the driver of each module is designed and the main program of the system is developed. Combined with the above research, the performance of the system has been tested, and achieved excellent results in the competition. According to the problems of expansion port and task processing found during debugging, the system scheme is optimized and improved: the main controller adopts LM3S1138 processor with better performance and the embedded 渭 C / OS- 鈪，

本文編號：2314561