微小型机器人隐形导航技术研究
发布时间：2018-11-06 14:33
【摘要】：目前,机器人成为全世界重点发展的热门领域,各项研究也开展的十分活跃。在我国,机器人产业已经成为政府重点培植的下一个新型高科技产业,成为我国加快新一轮经济结构调整和产业升级的重要方向和支撑。随着机器人研究的不断发展,各类机器人竞赛也受到了国内外的大力支持,机器人竞赛的举办对于培养参赛人员的创新精神、团结协作精神,为机器人领域输送新鲜血液,以及推动机器人技术的普及和发展都有重大意义。本文以中国教育机器人竞赛为研究背景,以微小型机器人为研究对象载体,研究了微小型机器人的隐形导航技术。针对原系统导航过程中视觉美感不足的问题,研究分析了不同传感器的原理及优缺点,创新性地提出了竞技机器人导航的隐形化设计方案。在群机器人项目的通信实现方案中,研究分析并设计了ZigBee无线网络,实现稳定高效的数据传输。系统的硬件架构采用了模块化设计,主要模块有：以Arduino处理器为核心的主控制器模块,电感式传感器与RFID系统共同组成的路径检测模块、XBee通信模块和电机驱动模块。确定系统的硬件架构后,设计了各模块的驱动程序并完成了系统主程序的开发。结合以上研究,对系统进行了性能测试,并在竞赛中取得了优异成绩。根据调试过程中发现的扩展口和任务处理问题,优化改进了系统方案：主控制器采用性能更好的LM3S1138处理器以及移植了嵌入式μC/OS-Ⅱ实时操作系统。最后对改进方案进行了具体的设计,经测试证明经改进的机器人平台具有良好的实时性和扩展性。
[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，
本文编号：2314561
[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，
本文编号：2314561
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