摘要
现代机器人技术诞生于20世纪40年代,近年来随着计算机、微电子、人工智能、传感器、网络通信等技术的发展,逐渐成为一个多学科交叉的热点研究课题,应用领域也越来越广泛。其中,移动机器人更是因为其在服务、人工智能等领域的价值而备受重视。本文在综合分析了国内外移动机器人研究现状的基础上,设计了一种具有全向轮结构,采用PC+DSP模块化结构、可以任意扩展/裁剪的、具有一定开放性和通用性的机器人系统平台。
本论文的主要工作包括以下方面:
首先进行了机器人的总体结构设计,采用了一种具有两级CPU、分布式控制方式的体系结构,并划分了机器人的硬件系统结构,主要包括:主机决策系统、运动控制系统、电机驱动系统、信息采集系统和无线通信系统。
机械结构方面,讨论了机器人机电性能的技术要求,进行了机器人机械结构的分析与设计,主要包括:全向轮结构的设计、控制电机的选型、机械传动结构设计、电池的选择、车体的设计与材料的选用。
硬件电路设计方面,主要工作包括两级核心控制器的选择(PC+DSP)、基于DSP(TMS320LF2407A)的运动控制系统的设计,电机驱动方式的选择与H桥驱动电路的设计、传感器处理电路的设计、电压转换电路的设计等。
软件平台设计方面,对于下层DSP运动控制系统,介绍了软件控制的总体思想与主程序流程,详细介绍了串口通信、电机速度换算、PI速度控制算法、PWM信号的生成和光电编码器信号的处理等几个程序的设计方法和流程;对于上层PC决策系统,给出了一些基本功能的软件实现,包括运动控制,图像采集和传感器功能检测。
最后总结了本文的研究成果和不足之处,并对移动机器人的研究工作进行了展望。
Modern robot technology was born in the 1940s. In recent years, with the development of computers, microelectronics, Artificial Intelligence (AI), sensors, and networks, the robot technology becomes a research hotspot of many subjects gradually, and its applications are more and more wide. Mobile robot attracts more and more attention, because of its function in serving, Artificial Intelligence (AI) etc. Based on the analysis of domestic and international mobile robot research, a mobile robot with four all-directions wheels was designed, which has a two-layer structure used PC and DSP as the main controllers. The robot platform is an open and common system, and can be extended or cutted according to your purposes.
The main work of the paper is as follows:
Firstly, the system architecture is designed. A scheme of wheeled robot which has two CPU and distributed control architecture is adopted. The hardware structure of robot system is divideded into host decision-making systems, motion control system, the motor drive system, information collection system and wireless communications system.
In the aspect of mechanical structure, the requirements of the mechanical design of wheeled robot are discussed firstly. Then the design of mechanical structure is expatiated in detail, which includes: design of all-directions wheel, choice of motors, design of mechanical drive device, choice of battery, design of mechanical vehicle and choice of materials.
In the aspect of hardware structure, the main work includes: choice of core chip (PC+DSP), control system design based on the DSP (TMS320LF2407A), choice of motor-driven approach, H-bridge driver design, sensor system design and design of voltage converter.
In the aspect of software platform, the software strategies are divided into two parts. For the DSP motion control system, the whole idea of software design and the processes of main program are introduced, and the design methods and procedures of serial communication, motor speed conversion algorithm, PI speed control algorithm, PWM signal generation and photoelectric encoder system, are expatiated in detail. For the top PC decision-making system, some software of basic functions, including motion control, image acquisition and sensor function tests, is provided.
Finally, the author's research results, experience and shortcomings are summarized, and some topics for future mobile robot research. are introduced.
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