【作者】 陈卫；

【导师】 杨忠；

【作者基本信息】 南京航空航天大学 ， 检测技术与自动化装置， 2009， 硕士

【摘要】 移动侦察机器人常应用于侦查、排爆及消防等危险任务,但常规机器人普遍存在体积大、重量重、形状不规则、携带不方便等问题,制约了机器人作为常规装备装配给任务执行人员。为此,本文研制一种重量轻、体积小便于携带的两轮侦察机器人,代号MPSR(Micro Portable Scout Robot)。MPSR外形设计参照了美国明尼苏达大学研制的Recon Scout机器人,内部机构为一体化抗震设计,外壳采用合金材料,使得机器人的抗冲击性能得到很大的提高;MPSR硬件系统搭载了视觉等传感器,通过无线设备遥控完成侦察及探测任务。论文的主要研究工作包括:1)总体方案设计,完成了MPSR结构设计和主控制系统方案的论证。具体工作是:使用Solidworks软件设计MPSR机械本体;采用ZigBee技术构建无线通讯网络;选用DSP芯片作为机器人主控制器、Namiki直流电机作为执行机构;最后还根据需要选择了相关感知器。2)根据设计方案研究了相关技术资料,设计了机器人主控制硬件系统,包括DSP最小系统、模块化供电系统、直流电机驱动电路、电机速度检测电路、视频电源控制电路、数字式三轴加速度传感器和温湿度传感器电路等,完成了硬件原理图和PCB绘制。3)调试了硬件电路板,编写了机器人硬件电路嵌入式驱动程序和上层应用程序,使机器人能够按照上位机发送的控制指令来工作,用以完成对机器人的遥控并实现机器人对环境的感知功能。基于C++Builder开发环境设计了移动机器人控制人机交互界面程序。4)完成了机器人机械部分的制作与装配。并基于该系统进行了实验研究,主要包括机器人的运行性能测试、传感器数据采集与分析、智能环境监测研究等。实验结果表明该机器人达到预期提出的性能指标,并具有成本低、机动性能好、体积小、便于携带等优点。更多还原

【Abstract】 Scout robot has been widely applied to complete the dangerous task such as investigation,remove exploder and fire protection.But normal robot has some problems.It’s volume is too large, weight is too heavy, and shape is irregular.Thoes seriously restricted robot equip to man as normal equipment, and reduce man’s ability of solving emergent events.So base on current robot technology, we develope a low cost, strong function, small volume, light-weight and portable two wheeled Scout Robot, named MPSR.MPSR is refered to the Recon Scout robot of Minnesota Univ.Robot has sophisticated electronics , protective metal shell and elastic plastic wheels.Flexible antennas are designed to withstand the rigors of the job.The research contents of this paper is as follows:Firstly,The MPSR mechanical structure design is finished and the robot’s main control system design demonstration.Though analysis and comparison. we use Solidworks sofeware to designe MPSR mechanical structure, ZigBee technology to build wireless network, DSP chip to build robot’s main control system, Namiki Maxon dc motor as robot’s executing mechanism.Secondly, according to relevant technical documents, the robot main control hardware circuit design is finished . The hardware includes the reduction and clock circuits, serial communication interface, the motor-driven, feedback signal detection module, sensors circuit and so on. All of these circuits are debugged and checked.Thirdly, we accomplish the robot hardware driver and the upper-structure application software, and make the robot be able to work according to the control command that superordination machine dispatches. Realize robot remote control and environment perception. The man-machine interactive interface for the robot is programmed by C++ Builder.Finally, we do experiments of MPSR.Experiments include robot moving speed calculating, sensor data acquisition and analysis, environment vibration monitor by MEMS accelerometer sensor etc.The results of experiments show that movement robot meets the design requirements.更多还原