快乐赛车网-快乐赛车网址多少

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                1. 欢迎光临!1kic网专注于为电子元器件行业提供免费及更实惠的芯片ic交易网站。
                  一款基于STM32的智能灭火机器人设计
                  来源:互联网 | 作者:中华ic网 www.rafatrigo.com | 发表于:2015-12-24
                  本文以STM32F103嵌入式芯片为核心,完成灭火机器人的软、硬件设计。当机器人启动后,前部和左右的红外测距传感器为机器人的避障功能和沿墙走方式 提供参考信号。机器人的运动速度以及运动方向由处理器输出的PWM信号来控制。

                  本设计的研究初衷来源于灭火机器人比赛,比赛场地将采用国际标准比赛场地,比赛场地平面图如图1所示。比赛场地的墙壁高为33cm,厚为2 cm,由木头做成。墙壁刷成白色。比赛场地的地板是被漆成黑色的光滑木制板。场地中所有的走廊和门口都是46 cm的开口,一个白色的2.5 cm宽的白色带子或白漆印迹表示房间人口,在距离火焰30 cm的圆上有一条2.5 cm宽的白线。根据要求,该机器人要在模拟的四室一厅房间内完成发现并确认火源、灭火和回家(回到出发点H)等功能。

                  STM32灭火机器人设计方案

                  图1 灭火机器人设计模拟场地

                  快乐赛车网-快乐赛车网址多少 BENWENYISTM32F103QIANRUSHIXINPIANWEIHEXIN,WANCHENGMIEHUOJIQIRENDERUAN、YINGJIANSHEJI。DANGJIQIRENQIDONGHOU,QIANBUHEZUOYOUDEHONGWAICEJUCHUANGANQIWEIJIQIRENDEBIZHANGGONGNENGHEYANQIANGZOUFANGSHI TIGONGCANKAOXINHAO。JIQIRENDEYUNDONGSUDUYIJIYUNDONGFANGXIANGYOUCHULIQISHUCHUDEPWMXINHAOLAIKONGZHI。HUOYANCHUANGANQIJIANCEFANGJIANNEIHUOYUAN,FAXIANHUOYUANHOUJIQIRENCHAOXIANGHUOYUANFANGXIANGXINGZOU,DIBUDEHUIDU CHUANGANQIJIANCEDIMIANBAIXIANPANDUANJIQIRENSHIFOUKAOJINHUOYUAN,KONGZHIJIQIRENZANTING,QIDONGFENGSHANMIEHUO,MIEHUOHOUHUIJIA。

                  1 XITONGYINGJIANSHEJI

                  根据设计要求,本系统主要由STM32F103传感器模块快乐赛车网-快乐赛车网址多少、直流电机驱动模块、风扇模块、电源模块等构成。系统框图如图2所示。

                  快乐赛车网-快乐赛车网址多少 TU2 MIEHUOJIQIRENXITONGYINGJIANSHEJIKUANGTU

                  1.1 机器人整体布局

                  JIQIRENZUOYOULIANGLUNFENBIEYONGLIANGGEZHUANSUHELIJUWANQUANXIANGTONGDEZHILIUDIANJIJINXINGQUDONG,JIQIRENQIANBUZHUANGYIGEWANXIANGLUN,ZHEIYANG,KEYIQINGSONGDISHIJIQIRENGAIBIANYUNXINGFANGXIANGHEYUNDONGSUDU。JIQIRENQIANMIANZHUANGYOUFENGSHAN、HUOYANCHUANGANQIHEHONGWAICHUANGANQI,TOUBUDICEZHUANGYOUHUIDUCHUANGANQI,ZUOYOULIANGCEGEYOU3GEHONGWAICEJUCHUANGANQI,LIANGCEDECHUANGANQIKEYIFENBIECELIANGBUTONGFANWEINEIDEZHANGAIWUJULI。

                  快乐赛车网-快乐赛车网址多少 1.2 WEIKONGZHIQIMOKUAI

                  XITONGCHUANGANQIMOKUAIYAOBUDUANCAIJIHUANJINGXINXI,YAOQIUKONGZHIXINPIANYOUJIAOGAODESHISHICHULINENGLIHEJIAOGAODECHULISUDU,YINCI,XITONGXUANYONGQIANRUSHIXINPIANSTM32F103GAIXINPIANSHIYONGARMXIANJINJIAGOUDECortex—M3NEIHE,CPUPINLVKEDA72 MHz,JUYOULIANGGE16WEIADCYONGYUGAOSUCAIJISHUJUCAIJI,15GEI/ODUANKOUYONGYULIANJIEWAIBUSHEBEI。I/ODUANKOUZUOWEISHURUKOUDUQUJIANCEDUANKOUHECHUANGANQIZUDESHUJU,ZUOWEISHUCHUDUANKOUYONGYUQUDONGDIANJIHEFENGSHAN。4GEPWMDINGSHIQIYONGYUQUDONGDAGONGLVZHILIUDIANJI。XINPIANJUYOUSUDUKUAI、GONGHAODI、KEKAOXINGGAO、SHISHIXINGQIANGDENGYOUDIAN。

                  1.3 CHUANGANQIMOKUAI

                  快乐赛车网-快乐赛车网址多少 CHUANGANQIMOKUAIZHUYAOYOUHONGWAICEJUCHUANGANQI、HUOYANCHUANGANQIHEHUIDUCHUANGANQISANLEIZUCHENG。

                  快乐赛车网-快乐赛车网址多少 HONGWAICEJUCHUANGANQIZHUYAOJIANCEZHANGAIWU(QIANGBI),FANGZHIJIQIRENZHUANGQIANG。BENSHEJICAIYONGGUANGDIANSHIHONGWAICHUANGANQIE18-D80NK,TASHIJIHONGWAIFASHEMOKUAIHEHONGWAIJIESHOUMOKUAIYUYITIDESHUZICHUANGANQI,YOUXIAOJIANCEFANWEIWEI3~80 cmKEDIAO,ZHIXIANGJIAO≤15°。GENJUBISAICHANGDITEDIAN,BENSHEJICAIYONG7GECILEICHUANGANQI,ZHEIYANGDECHUANGANQIBUJUKEYICAIJISUOXUDEGEZHONGXINHAO,ZHUNQUECEZHANG,LINGHUODIAOZHENGYUNXINGFANGXIANG,BAOZHENGJIQIRENYUNDONGGUOCHENGZHONGBUPENGBI。CHUANGANQIDEFENBURUTU3SUOSHI。

                  快乐赛车网-快乐赛车网址多少 TU3 MIEHUOJIQIRENCHUANGANQIMOKUAI

                  HUOYANCHUANGANQIYONGLAIJIANCEHUOYUAN,XUNZHAOHUOYUANWEIZHI。CAIYONG5LUHUOYANCHUANGANQIZUCHENGHUOYANCHUANGANQIZU,CHUANGANQIZUDESHEJIRUTU4SUOSHI,ZHEIZHONGJIEGOUKEYITANCE180°FANWEINEIHUOYANXINHAOYUAN。JIQIRENZAIFANGJIANMENKOUJIUKEJIANCEFANGJIANNEISHIFOUYOUHUOYUAN,RUOWUHUOYUANZEZHIJIETUICHUGAIFANGJIANXUNJIXIAYIGEFANGJIAN,DALIANGJIESHENGLESHIJIAN。

                  TU4 MIEHUOJIQIRENHUOYANCHUANGANQI

                  快乐赛车网-快乐赛车网址多少 DIMIANHUIDUCHUANGANQIANZHUANGYUJIQIRENQIANBUDEDIZUOSHANG,YONGYUJIANCEDIMIANFANSHEGUANGXIANDEQIANGDU。BENSHEJIXUANYONGQTIHUIDUCHUANGANQI,GAIQIJIANKEZUOWEIHONGWAIJIESHOUQIHEFASHEQI,NEIQIANRIGUANGGUOLVQI,KEFANGZHIRIGUANGDEGANRAO。QISHUZIXINHAOSHUCHUZHUYAOYONGLAIJIANCEBISAICHANGDIZHONGHUOYUANZHOUWEIDEBAIXIAN,KONGZHIJIQIRENZAIYOUHUOYUANDEBAISEYUANHUCHUZANTING。

                  1.4 DIANJIQUDONGMOKUAI

                  快乐赛车网-快乐赛车网址多少 WEILEKONGZHIJIQIRENDEYUNDONGSUDUHEFANGXIANG,SHEJILEYIZHONGHQIAOQUDONGDIANLU。GAIDIANLUYIIRF4905HEIRF3205 MOSGUANWEIKAIGUANYUANJIAN,YIIRF1210WEIZHAJIQUDONGXINPIAN。ZHUKONGXINPIANCHANSHENGDEPWMXINHAOKONGZHIQUDONGXINPIAN,JINERKONGZHIJIQIRENZUOYOULUNDEZHUANSUHEWANXIANGLUNDEZHUANXIANG。QUDONGDIANLUDEDIANLUTURUTU5SUOSHI。MIEHUOFENGSHANDEDIANJICAIYONGDAGONGLVMOsQUDONGQI,YOUSIFUDIANJISHUCHUDUANDEXINHAOQUDONG。

                  TU5 ZHILIUDIANJIQUDONGMOKUAIDIANLUTU

                  1.5 QITAMOKUAI

                  快乐赛车网-快乐赛车网址多少 WEIBAOZHENGXITONGZHENGCHANGGONGZUOHESHUNLIMIEHUO,XITONGHAIBAOKUODIANYUANMOKUAI、SHIZHONGMOKUAIHEFENGSHANMOKUAI。YIDIANYUANMOKUAIWEILI,DIANYUANMOKUAITONGGUOZHUANYONGDEDIANYUANZHUANHUANXINPIAN7805CHANSHENGCHUANGANQISUOXUDE5 VDIANYUAN,TONGGUOLM1117CHANSHENGZHUKONGZHIQISUOXUDE3.3 VDIANYUAN。DIANYUANMOKUAIRUTU6SUOSHI。

                  图6 灭火机器人电源模块

                  快乐赛车网-快乐赛车网址多少 2 XITONGRUANJIANSHEJI

                  XITONGRUANJIANCAIYONGCYUYANBIANCHENG,ZHUYAOBAOKUOZHUCHENGXU、YUNDONGKONGZHICHENGXU、MIEHUOCHENGXUHEHUIJIACHENGXUDENGBUFEN,ZHUYAOYONGDAODESUANFAYOUYANQIANGZOUSUANFAHEQUGUANGZOUSUANFA。ZAICHENGXUSHEJIZHONG,TONGGUOCHUANGANQICAIJIXINXI,ANZHAOYANQIANGZOUSUANFAKONGZHIJIQIRENDEXINGDONG,DANGFAXIANHUOYUANHOUANZHAOQUGUANGZOUSUANFAXUNSU、ZHUNQUEDIKAOJINHUOYUAN、MIEHUOBINGHUIJIA。CHENGXUYUNXINGZHONGYINGBIMIANJIQIRENPENGZHUANGZHANGAIWU(QIANGBI)。ZHUCHENGXUKONGZHILIUCHENGTURUTU7SUOSHI。

                  TU7 MIEHUOJIQIRENZHUCHENGXUKONGZHILIUCHENGTU

                  JIQIRENYUNDONGKONGZHICHENGXUCAIYONGYANQIANGZOUSUANFA,YOUADCCAIYANGCHENGXU、DIANJIKAIQI、DIANJITINGZHI、DIANJISUDUHEFANGXIANGKONGZHICHENGXU、YANSHICHENGXUDENGBUFENGOUCHENG。TONGGUOHONGWAICEJUCHUANGANQICAIJIDEXINXI,QUANFANGWEIDIPANDUANZHANGAIWUDEQINGKUANG,KONGZHIJIQIRENDEXIAYIBUYUNDONGFANGSHI,ZHUYAOYOUZHIZOU、HOUTUI、ZUOWEIDIAO、YOUWEIDIAO、ZUOZHUANWAN、YOUZHUANWANDENG。

                  JIQIRENMIEHUOCHENGXUZHUYAOWANCHENGHUOYUANDEXUNZHAO、QUERENYIJIMIEHUORENWUBINGHUIJIA。ZAIJIQIRENJIANCEDAOFANGJIANNEIYOUHUOYUANSHI,CAIYONGQUGUANGZOUSUANFA,GENJUHUOYANCHUANGANQIZUDEZHUANGTAI,DIAOZHENGJIQIRENYUNDONGJIAODU,SHIQIZHIMIANHUOYUANFANGXIANGQIANJIN。DANGJIANCEDAOFANGJIANNEIHUOYUANZHOUWEIBAIXIANSHI,TINGZHIYUNDONG,KAIQIFENGSHANMIEHUO;DANGJIANCEBUDAOHUOYUANSHI,MIEHUOCHENGGONG。ZUIHOU,QIDONGHUIJIAMOSHI,GAIMOSHICAIYONGYANQIANGZOUBIZHANGSUANFA。

                  GAIRUANJIANXITONGJUYOUHENDADELINGHUOXING,YINWEIGECHENGXUSHIFENMOKUAISHEJIDE,DANGBISAIGUIZEGAIBIANSHI,ZHIXUTONGGUOZHUCHENGXUDIAOYONGBUTONGDEMOKUAIJIKEWANCHENGXINDERENWU。

                  快乐赛车网-快乐赛车网址多少 3 JIEGUOYUFENXI

                  快乐赛车网-快乐赛车网址多少 DUIBENXITONGJINXINGXINGNENGCESHI,CESHIZHONGSHOUXIANDUIDIANJIJINXINGCESHI,DIANJIZAIZHENGCHANGGONGZUODIANYAXIA,DIAOZHENGRUANJIANXITONGDEPWMKONGZHIZHI,KEYISHIXIANDIANJIDEDIAOSU、ZHIXINGQIANJIN、HOUTUI、ZUOWEIZHUAN、YOUWEIZHUAN、ZUOZHUAN90°HEYOUZHUAN90°DENGGONGNENG。RANHOUDUIJIQIRENZAIBISAICHANGDIJINXINGMIEHUOSHIYAN,GONGJINXING30CISHIYAN,SUIJIDIBADIANRANDELAZHUFANGZAIGEGEFANGJIANDEZHIDINGWEIZHI。JIQIRENDOUNENGSHUNLIDIZHAODAOHUOYUAN,MIEHUOHUIJIAQIESUOYONGSHIJIANJUNZAI1 minZHINEI,SHIYANZHONGMEIYOUCHUXIANPENGBIXIANXIANG。CISHUJUBIAOMINGJIQIRENNENGPINGWENDIANZHAOKAOQIANGZOUYUANZEWANCHENGRENWU。ZHENGGEXITONGJUYOUHENKUAIDEXIANGYINGSUDU、JIAOGAODEWENDINGXINGHEJIAOQIANGDEKANGGANRAONENGLI。

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