摘要
介绍一种基于ARM7微控制器的清洁机器人控制系统。该系统实时性高,功能完备,包括控制器、传感器部分、电机控制部分和人机接口部分。由碰撞传感器、超声波传感器和接近传感器来探测周围的环境,由直流电机带动两个驱动轮旋转,结合旋转编码器的反馈信息进行路径规划。经过实验证明了设计的可靠性,实现了清洁机器人的自动清洁行走功能。
This paper presents the system integration and overview of autonomOus cleaning robot based on ARM7 microcontroller. The real- time characteristic and function of the system are in good condition. The system consists four segments.. controller, sensors, motor control system and man- machine interface. Several sensors of the approaching in order to detect the surrounding obstacles while cleaning,two driven wheels are driven by two DC motors, combining with the feedback information of rotating encoder,the cleaning robot can complete the path planning. Experiments show that the control system run well and the robot have the ability to clean the floor automatically.
出处
《现代电子技术》
2009年第12期127-130,共4页
Modern Electronics Technique
基金
广东省产学研合作资助项目(2007B090400056)
广东省科技计划资助项目(2007B010200040)
