简易家庭服务机器人系统设计

Design of system for simple home service robot

设计了一种简易的家庭服务机器人系统模型,系统以EasyARM2100单片机为控制核心,带减速装置的直流电机作为小车的动力装置,普通直流伺服电机作为清扫电机,再加以红外光电传感器、超声波传感器和液晶显示电路构成。系统以单片机为中央控制器,通过接收传感器回传的数据确定小车的位置状态,然后,控制小车的工作,由光码盘实现速度测量。利用超声波传感器模块实现测距,并配合软件计算实现避障,从而实现地面清扫,定时催醒等功能。经过各模块联合调试,机器人对位置状态判断准确,并能够改变PWM占空比对电机调速,从而实现机器人转向,各项指标均达到设计要求。

A design of a simple home service robot system is introduced. It is consisted by a EasyARM2100 SCM as its controlling core,a DC motor with decelerating devices as the engine,a ordinary direct current servo motor as the clearing motor,both photoelectric and ultrasonic sensor, a power circuit and a LCD display circuit. The system uses the EasyARM2100 SCM as its central controller,and search for the position of the smart car by receiving the data from the GPIO, then takes in charge of the car＇s working procedure and measurong its speed with optical encoder, it can measure distance with the URM37 ultrasonic sensor module, with the help of computing software it can also avoid hit on the other objects,clean the floor,work as alarm and so on. The experiment shows that system performance index satisfies to design requirements.