PIC单片机在矿井避障机器人测控系统中的应用
摘要
随着科学技术的发展，机器人在各方面的应用越来越广泛，所有发达国家都把机器人技术或智能自动化技术摆在科技发展战略中最优先的地位加以推广，我国是发展中国家，必须加强研究工作，掌握理论和技术，尽早在那些需要的地方应用到生产和研究活动中去。我国的一些著名机器人专家更是一再明确强调要重点发展煤矿机器人，并把它作为我国发展工业机器人的突破口，日前，我国首台煤矿搜救机器人(样机)由中国矿业大学可靠性与救灾机器人研究所研制成功。正是在这一背景下，作者翻阅了大量有关煤矿机器人的资料，对煤矿机器人的发展做了一些工作。
该论文主要包括四大部分，分别是：移动小车的运动控制、超声波发射和接收、距离的显示以及移动小车的避障设计。
移动小车的控制部分介绍了小车控制电机的选择，单片机对电机的控制原理，并对电机进行了MATLAB／SIMULINK建模和仿真，其中电机的控制是通过对单片机编程来实现的；在超声波发射和接收电路中介绍了超声波的发射和接收电路，对于超声波的发射，也是通过对单片机编程来实现的，超声波接收电路包括三部分，分别是超声波放大电路、超声波滤波电路和超声波整形电路；距离显示电路主要介绍了显示电路的组成，并结合单片机的特点介绍了计数频率的产生和其部件(计数器、译码器和显示器)的选择。最后介绍了温度补偿电路和当今机器人路径规划常用的几种方法，并介绍了本课题的移动小车的避障方法及VB仿真结果。
最后对该测量系统所产生的误差进行了分析，该系统的误差包括两方面，一是硬件误差，包括超声波发生器和接收器、计数器、译码器等带来的误差；另外的一个是软件误差，软件编程也会产生一定的误差。本文的两个重要成果是：对四相反应式步进电动机进行了MATLAB／SIMULINK建模和仿真；构建了一个基于VB的移动机器人通信平台，并对其实用性进行了计算机仿真。
With the development of science and technology, Robot is being used in many facets.It is very important that Robotics technology and automatization technology in many developed countries.China is a developing countary,so we must master the theory and technology.Some robotics experts think that mine robot should be the emphases in our country. These days the first mine rescuing robot has been made by robotics graduate school of China university of mining &technology. Based on the background, the author consulted many data about mine rescuing robot and did some work.
The paper is divided into four sections: the control part of moving dolly; the circuit of ultrasonic emitting and receiving; displaying circuit of distance and avoiding barrier of moving dolly.
In the control part of moving dolly, the author introduces the selecting of motor of dolly and control theory of motor by PIC SCM.Introduced the ultrasonic center frequency, emitting and receiving in the circuit of ultrasonic.The ultrasonic can be produced by programming the PIC SCM. Three parts are constituted of the receiving circuit, they are ultrasonic receiving circuit, magnifying circuit and filtering circuit. Introduce the components of displaying circuit in distance circuit, countering frenquency and parts (counter, encoder and display)of the circuit. At last, author introduces the circuit of temperature compensating and some methods of path grogramming in robot using and simulation result based on VB.
The paper analyse the error of the system. The system error includes two aspects, one is hardware, which include the error of ultrasonic emitter, counter, encoder and so on; the other is software error,which include the programme.
There are two results in this thesis,one is modeling and simulating the step motor based on MATLAB/SIMULINK, the other is constructing a communication platform based on VB and test the validity.
该论文主要包括四大部分，分别是：移动小车的运动控制、超声波发射和接收、距离的显示以及移动小车的避障设计。
移动小车的控制部分介绍了小车控制电机的选择，单片机对电机的控制原理，并对电机进行了MATLAB／SIMULINK建模和仿真，其中电机的控制是通过对单片机编程来实现的；在超声波发射和接收电路中介绍了超声波的发射和接收电路，对于超声波的发射，也是通过对单片机编程来实现的，超声波接收电路包括三部分，分别是超声波放大电路、超声波滤波电路和超声波整形电路；距离显示电路主要介绍了显示电路的组成，并结合单片机的特点介绍了计数频率的产生和其部件(计数器、译码器和显示器)的选择。最后介绍了温度补偿电路和当今机器人路径规划常用的几种方法，并介绍了本课题的移动小车的避障方法及VB仿真结果。
最后对该测量系统所产生的误差进行了分析，该系统的误差包括两方面，一是硬件误差，包括超声波发生器和接收器、计数器、译码器等带来的误差；另外的一个是软件误差，软件编程也会产生一定的误差。本文的两个重要成果是：对四相反应式步进电动机进行了MATLAB／SIMULINK建模和仿真；构建了一个基于VB的移动机器人通信平台，并对其实用性进行了计算机仿真。
With the development of science and technology, Robot is being used in many facets.It is very important that Robotics technology and automatization technology in many developed countries.China is a developing countary,so we must master the theory and technology.Some robotics experts think that mine robot should be the emphases in our country. These days the first mine rescuing robot has been made by robotics graduate school of China university of mining &technology. Based on the background, the author consulted many data about mine rescuing robot and did some work.
The paper is divided into four sections: the control part of moving dolly; the circuit of ultrasonic emitting and receiving; displaying circuit of distance and avoiding barrier of moving dolly.
In the control part of moving dolly, the author introduces the selecting of motor of dolly and control theory of motor by PIC SCM.Introduced the ultrasonic center frequency, emitting and receiving in the circuit of ultrasonic.The ultrasonic can be produced by programming the PIC SCM. Three parts are constituted of the receiving circuit, they are ultrasonic receiving circuit, magnifying circuit and filtering circuit. Introduce the components of displaying circuit in distance circuit, countering frenquency and parts (counter, encoder and display)of the circuit. At last, author introduces the circuit of temperature compensating and some methods of path grogramming in robot using and simulation result based on VB.
The paper analyse the error of the system. The system error includes two aspects, one is hardware, which include the error of ultrasonic emitter, counter, encoder and so on; the other is software error,which include the programme.
There are two results in this thesis,one is modeling and simulating the step motor based on MATLAB/SIMULINK, the other is constructing a communication platform based on VB and test the validity.
引文
[1] 林芝，智能汽车的距离测量技术，汽车技术，2002，Vol．2，p 44-46
[2] 李学海，PIC单片机原理，北京，北京航空航天大学出版社，2004
[3] 李学海，PIC单片机实践，北京，北京航空航天大学出版社，2004
[4] 哈尔滨工业大学，成都电机厂，步进电动机，北京，科学出版社，1979
[5] 陈理璧，步进电动机及其应用，上海，上海科学技术出版社，1983
[6] 陆庭恕，余卫，电动机的微型计算机控制，南京，南京工学院出版社，1986
[7] Lbrahirn, Doqan, PIC-based autonomous stepping motor controller, Electronics World, 2005, Vol. 111, No. 1828, p 40-44
[8] 张玉英，来清民，基于PIC单片机的二维步进电机控制系统，信阳师范学院学报，2005，Vol．18 N0．3，278-279
[9] 毛玉蓉，翁惠辉，刘钢，一种基于单片机微机的步进电机控制系统，电气传动，2003，Vol．6，32-34
[10] 丁伟雄，杨安定，宋晓光，步进电机的控制原理及其单片机控制实现，煤矿机械，2005，Vol．6，127-129
[11] 张巍，浅谈单片机控制步进电机，工业技术与应用，2006，62-64
[12] Karachevtsev. V. A, Linnik. A.S, Nedqajlo. N. Yu, Microcontroller device(MD) for control of a step motor in the CAMAC(Computer Aided Measurement and Control)standard, Priboryi Tekhnika Eksperimenta, 2001, Vol. 44, No. 3, p 161-162
[13] 米昶，Protel 2004电路设计与仿真，北京，机械工业出版社，2006
[14] 米昶，董峰，解统燕，Protel DXP电路设计基础教程，北京，机械工业出版社，2005 ‘
[15] 牛余鹏，成署，基于单片机的超声波测距系统，测控技术，2005，Vol．24 N0．477-79
[16] 阮成功，蓝兆辉，陈硕，基于单片机的超声波测距系统，应用科技，2004，Vol．31，NO．7，22-24
[17] Li Yibin, Li Caihong, Path plan and motion control for mobile robot based on ultrasonic data fusion, Proceedings of SPIE-The International Society for Optical Engineering, 2OOO, Vol 4077, p 213-217
[18] 华成英，模拟电子技术基本教程，北京，清华大学出版社，2006
[19] 杨素行，模拟电子技术基础简明教程，第二版，北京，高等教育出版社，1998
[20] 秦曾煌，电工学，第五版，北京，高等教育出版社，1999
[21] 汤山俊夫，数字电路设计，北京，科学出版社，2006
[22] 杨喜权，数字逻辑电路，北京，北京希望电子出版社，2004
[23] 罗翼，张宏伟，PIC单片机应用系统开发典型实例，北京，中国电力出版社，2005，288
[24] 李斌，一种新型同步整流电路的设计，通信电源技术，2005，Vol．22 No．3 25-27
[25] 船仓一朗，土屋尧，桂太郎，机器人控制电子学，北京，科学出版社，2004
[26] 吴兴源，吴飞，改善放大电路噪声之探讨，电声技术，1994，Vol．10，40
[27] 刘和平，PIC16F87X单片机实用软件与接口技术，北京，北京航空航天大学出版社，2002，193-194
[28] DM74LS90/DM74LS93, Decade and Binary Counters, National Semiconductor, 1989
[29] 54／74248，三毛电子世界，1998，90-93
[30] An efficient dynamic system for real-time robot-path planning, Willms. Allan R, Yang. Simon X, IEEE Transactions on Systems, Man andCybernetics, Part B:Cybernetics, Vol 36, No 4, August, 2006, p 755-766
[31] A neuron-fuzzy controller for reactive navigation of a behaviour based mobile robot, Zhu Anmin, Yang Simon X, Wang Fangju, etc, Lecture Notes in Computer Science, Vol 37, No 1, Oct 31,2001, p 25-51
[32] 高丽宏，移动机器人的路径规划和避障控制，[学位论文]，大连理工大学，2002
[33] Masuyama, Toshiaki, Hongyi. LI, A path-planning method for autonomous mobile robots, Proceedings of the SICE Annual Conference, SICE 2005 Annual Conference in Okayama-Proceedings, 2005, p 3507-3512
[34] Wei Shangming, Zefran Milos, Smooth path planning and control for mobil robots, 2005 IEEE Networking, Sensing and Control, ICNSC2005-Proceedings, Vol 2005,2005 IEEE Networking, Sensing and Control, ICNSC 2005-Proceedings, 2005, p894-899
[35] Fukazawa. Yusuke, Chornchana. Trevai, Ota. Jun, Region exploration path planning for mobile robot expressing working environment by grid points, Proceedings-IEEE International Conference on Robotics and Automation. 2003, Vol 2, p 24.18-2454
[36] Xu Zuoqing, Amethod of stability analysis for qutonomous wheeled robots, CANADA, UNIVERSITY OF GUELPH, 2006
[37] 武学春，铁轨检测车数据采集硬件电路的设计与实现，太原，太原理工大学，2006
[38] 肖立，佟仕忠，丁启敏等，基于PIC单片机控制的智能巡线小车，中国仪器仪表，2005，Vol．3，95-96
[39] 方建军，陈海峰，周峰等，基于PIC单片机控制的智能玩具机器人，技术与应用，2003，Vol．1．37-39
[40] Vialle. Stephane, De Vivo. Amelia, Sabatier. Fabrice, A grid architecture for comfortable robot control, Lecture Notes in Computer Science, 2005, Vol. 3470, p 344-353
[41] Sabatier. Fabrice, De Vivo. Amelia, Vialle. Stephane, Grid programming for distributed remote robot control, Proceedings of Workshop on Enabling Technologies:Infrastructure for Collaborative Enterprises. WETICE, 2004 Vol. 13, p 358-363
[42] 韩庆珏，刘少军，金燕，海底采矿移动机器人的避障研究，机电工程技术，2006，Vol．35，N 1，45-46
[43] 吴涛，移动机器人避障与路径规划研究，武汉，华中科技大学，2004
[44] 阎宏印，VB程序设计，北京，电子工业出版社，2005
[2] 李学海，PIC单片机原理，北京，北京航空航天大学出版社，2004
[3] 李学海，PIC单片机实践，北京，北京航空航天大学出版社，2004
[4] 哈尔滨工业大学，成都电机厂，步进电动机，北京，科学出版社，1979
[5] 陈理璧，步进电动机及其应用，上海，上海科学技术出版社，1983
[6] 陆庭恕，余卫，电动机的微型计算机控制，南京，南京工学院出版社，1986
[7] Lbrahirn, Doqan, PIC-based autonomous stepping motor controller, Electronics World, 2005, Vol. 111, No. 1828, p 40-44
[8] 张玉英，来清民，基于PIC单片机的二维步进电机控制系统，信阳师范学院学报，2005，Vol．18 N0．3，278-279
[9] 毛玉蓉，翁惠辉，刘钢，一种基于单片机微机的步进电机控制系统，电气传动，2003，Vol．6，32-34
[10] 丁伟雄，杨安定，宋晓光，步进电机的控制原理及其单片机控制实现，煤矿机械，2005，Vol．6，127-129
[11] 张巍，浅谈单片机控制步进电机，工业技术与应用，2006，62-64
[12] Karachevtsev. V. A, Linnik. A.S, Nedqajlo. N. Yu, Microcontroller device(MD) for control of a step motor in the CAMAC(Computer Aided Measurement and Control)standard, Priboryi Tekhnika Eksperimenta, 2001, Vol. 44, No. 3, p 161-162
[13] 米昶，Protel 2004电路设计与仿真，北京，机械工业出版社，2006
[14] 米昶，董峰，解统燕，Protel DXP电路设计基础教程，北京，机械工业出版社，2005 ‘
[15] 牛余鹏，成署，基于单片机的超声波测距系统，测控技术，2005，Vol．24 N0．477-79
[16] 阮成功，蓝兆辉，陈硕，基于单片机的超声波测距系统，应用科技，2004，Vol．31，NO．7，22-24
[17] Li Yibin, Li Caihong, Path plan and motion control for mobile robot based on ultrasonic data fusion, Proceedings of SPIE-The International Society for Optical Engineering, 2OOO, Vol 4077, p 213-217
[18] 华成英，模拟电子技术基本教程，北京，清华大学出版社，2006
[19] 杨素行，模拟电子技术基础简明教程，第二版，北京，高等教育出版社，1998
[20] 秦曾煌，电工学，第五版，北京，高等教育出版社，1999
[21] 汤山俊夫，数字电路设计，北京，科学出版社，2006
[22] 杨喜权，数字逻辑电路，北京，北京希望电子出版社，2004
[23] 罗翼，张宏伟，PIC单片机应用系统开发典型实例，北京，中国电力出版社，2005，288
[24] 李斌，一种新型同步整流电路的设计，通信电源技术，2005，Vol．22 No．3 25-27
[25] 船仓一朗，土屋尧，桂太郎，机器人控制电子学，北京，科学出版社，2004
[26] 吴兴源，吴飞，改善放大电路噪声之探讨，电声技术，1994，Vol．10，40
[27] 刘和平，PIC16F87X单片机实用软件与接口技术，北京，北京航空航天大学出版社，2002，193-194
[28] DM74LS90/DM74LS93, Decade and Binary Counters, National Semiconductor, 1989
[29] 54／74248，三毛电子世界，1998，90-93
[30] An efficient dynamic system for real-time robot-path planning, Willms. Allan R, Yang. Simon X, IEEE Transactions on Systems, Man andCybernetics, Part B:Cybernetics, Vol 36, No 4, August, 2006, p 755-766
[31] A neuron-fuzzy controller for reactive navigation of a behaviour based mobile robot, Zhu Anmin, Yang Simon X, Wang Fangju, etc, Lecture Notes in Computer Science, Vol 37, No 1, Oct 31,2001, p 25-51
[32] 高丽宏，移动机器人的路径规划和避障控制，[学位论文]，大连理工大学，2002
[33] Masuyama, Toshiaki, Hongyi. LI, A path-planning method for autonomous mobile robots, Proceedings of the SICE Annual Conference, SICE 2005 Annual Conference in Okayama-Proceedings, 2005, p 3507-3512
[34] Wei Shangming, Zefran Milos, Smooth path planning and control for mobil robots, 2005 IEEE Networking, Sensing and Control, ICNSC2005-Proceedings, Vol 2005,2005 IEEE Networking, Sensing and Control, ICNSC 2005-Proceedings, 2005, p894-899
[35] Fukazawa. Yusuke, Chornchana. Trevai, Ota. Jun, Region exploration path planning for mobile robot expressing working environment by grid points, Proceedings-IEEE International Conference on Robotics and Automation. 2003, Vol 2, p 24.18-2454
[36] Xu Zuoqing, Amethod of stability analysis for qutonomous wheeled robots, CANADA, UNIVERSITY OF GUELPH, 2006
[37] 武学春，铁轨检测车数据采集硬件电路的设计与实现，太原，太原理工大学，2006
[38] 肖立，佟仕忠，丁启敏等，基于PIC单片机控制的智能巡线小车，中国仪器仪表，2005，Vol．3，95-96
[39] 方建军，陈海峰，周峰等，基于PIC单片机控制的智能玩具机器人，技术与应用，2003，Vol．1．37-39
[40] Vialle. Stephane, De Vivo. Amelia, Sabatier. Fabrice, A grid architecture for comfortable robot control, Lecture Notes in Computer Science, 2005, Vol. 3470, p 344-353
[41] Sabatier. Fabrice, De Vivo. Amelia, Vialle. Stephane, Grid programming for distributed remote robot control, Proceedings of Workshop on Enabling Technologies:Infrastructure for Collaborative Enterprises. WETICE, 2004 Vol. 13, p 358-363
[42] 韩庆珏，刘少军，金燕，海底采矿移动机器人的避障研究，机电工程技术，2006，Vol．35，N 1，45-46
[43] 吴涛，移动机器人避障与路径规划研究，武汉，华中科技大学，2004
[44] 阎宏印，VB程序设计，北京，电子工业出版社，2005