摘 要
自动避障系统是割草机器人关键模块之一，是割草机器人自主、安全行走前提。本文首先对国内外市场上现存的智能割草机器人进行了介绍和比较，指出了现在智能割草机器人研制过程中需要注意的关键技术，并结合以往的成功经验和现在的实际需求，选择易于实验的小车结构。stc89c52单片机是宏晶科技推出的新一代高速/低功耗/超强抗干扰的单片机，指令代码完全兼容传统8051单片机，12时钟/机器周期和6时钟/机器周期可以任意选择。本课题以设计割草机器人自动避障为目的，采用stc89c52单片机作为控制核心，采用超声波传感器来检查路面上的障碍，来控制执行机构的自动避障，从而使执行机构完成左转、右转和后退的动作。其中采用的技术主要有：（1）超声波传感器的有效应用，（2）显示器的使用，（3）通过编程来控制执行机构的运动。 关键词：stc89c52单片机，超声波传感器，执行机构，显示器
刘顺元
abstract
automatic obstacle avoidance system is one of the key module robot mowers mowing robot, is independent, safe walking premise. this paper firstly introduced and compared to the domestic and foreign existing in the market of intelligent robot mowers, points out the key technologies in the development process of the intelligent robot mower now, combined with the successful experiences and actual demand now, select the vehicle structure is easy to experiment.stc89c52scm is the macro crystal technology, the introduction of a new generation of high / low power / super anti-jamming mcu, the instruction code is fully compatible with traditional 8051 scm, 12 clock / machine cycle and 6 clock / machine cycle can be arbitrarily chosen. the design of automatic obstacle avoidance for robot mower, using stc89c52 micro-controller as control core, using ultrasonic sensors to check the road barriers, automatic obstacle avoidance control actuator, the actuator to complete the left, right and back action. the main technology:(1)the effective application of ultrasonic sensor.(2) the use of the monitor. (3)programmed to contr
生产测井ol the car.
key words: stc89c52microcontroller, ultrasonic sensor, actuator , display
中文摘要 .................................................................................................................. i abstract .................................................................................................................... ii
第一章 绪论 .......................................................................................................... 1
1.1选题背景及意义 ....................................................................................................... 1
1.1.1自动割草机器人概述 ..................................................................................... 1
1.1.2自动割草机器人优点 ............................................................................. 1
1.2割草机器人的发展简史及其研究现状 ............................................................... 2
1.2.1发展简史 ........................................................................................................... 2
1.2.2国外的研究现状 ..................................................................................... 2
1.2.3国内的研究现状 .............................................................................................. 3
1.3割草机器人自动避障系统 ..................................................................................... 3
第二章 总体方案设计 ........................................................................................ 5
2.1主要研究内容 ........................................................................................................... 5
2.2具体方案介绍 ........................................................................................................... 5
第三章 超声波测距 ............................................................................................ 7
3.1超声波测距设计思路 .............................................................................................. 7
3.1.1超声波测距原理 .............................................................................................. 7
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3.1.2超声波测距方法 .............................................................................................. 7
3.1.3超声波模块的选择 .......................................................................................... 7
3.1.4显示器的选择 .................................................................................................. 8
第四章 超声波模块的硬件结构设计 ............................................................ 9
4.1超声波模块电路设计 .............................................................................................. 9
4.1.1 超声波模块的特点 ......................................................................................... 9
4.1.2 超声波模块的工作原理 ................................................................................ 9
冷凝器设计 4.1.3模块参数 ......................................................................................................... 10
4.1.4超声波时序图 ................................................................................................ 10
4.1.5超声波发送与接收 ....................................................................................... 11
4.2 stc89c52单片机功能及特点 ............................................................................. 12
4.2.1 stc89c52单片机参数 ................................................................................. 12迷失东京影评
4.2.2 stc89c52单片机特性 ................................................................................. 13
4.3.1 1602液晶屏的优点 ..................................................................................... 15
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