【作者】 宋敬国；

【导师】 李元宗；

【作者基本信息】 太原理工大学 ， 机械电子工程， 2007， 硕士

【摘要】 随着科学技术的发展，机器人在各方面的应用越来越广泛，所有发达国家都把机器人技术或智能自动化技术摆在科技发展战略中最优先的地位加以推广，我国是发展中国家，必须加强研究工作，掌握理论和技术，尽早在那些需要的地方应用到生产和研究活动中去。我国的一些著名机器人专家更是一再明确强调要重点发展煤矿机器人，并把它作为我国发展工业机器人的突破口，日前，我国首台煤矿搜救机器人(样机)由中国矿业大学可靠性与救灾机器人研究所研制成功。正是在这一背景下，作者翻阅了大量有关煤矿机器人的资料，对煤矿机器人的发展做了一些工作。该论文主要包括四大部分，分别是：移动小车的运动控制、超声波发射和接收、距离的显示以及移动小车的避障设计。移动小车的控制部分介绍了小车控制电机的选择，单片机对电机的控制原理，并对电机进行了MATLAB／SIMULINK建模和仿真，其中电机的控制是通过对单片机编程来实现的；在超声波发射和接收电路中介绍了超声波的发射和接收电路，对于超声波的发射，也是通过对单片机编程来实现的，超声波接收电路包括三部分，分别是超声波放大电路、超声波滤波电路和超声波整形电路；距离显示电路主要介绍了显示电路的组成，并结合单片机的特点介绍了计数频率的产生和其部件(计数器、译码器和显示器)的选择。最后介绍了温度补偿电路和当今机器人路径规划常用的几种方法，并介绍了本课题的移动小车的避障方法及VB仿真结果。最后对该测量系统所产生的误差进行了分析，该系统的误差包括两方面，一是硬件误差，包括超声波发生器和接收器、计数器、译码器等带来的误差；另外的一个是软件误差，软件编程也会产生一定的误差。本文的两个重要成果是：对四相反应式步进电动机进行了MATLAB／SIMULINK建模和仿真；构建了一个基于VB的移动机器人通信平台，并对其实用性进行了计算机仿真。更多还原

【Abstract】 With the development of science and technology, Robot is being used in many facets.It is very important that Robotics technology and automatization technology in many developed countries.China is a developing countary,so we must master the theory and technology.Some robotics experts think that mine robot should be the emphases in our country. These days the first mine rescuing robot has been made by robotics graduate school of China university of mining &technology. Based on the background, the author consulted many data about mine rescuing robot and did some work.The paper is divided into four sections: the control part of moving dolly; the circuit of ultrasonic emitting and receiving; displaying circuit of distance and avoiding barrier of moving dolly.In the control part of moving dolly, the author introduces the selecting of motor of dolly and control theory of motor by PIC SCM.Introduced the ultrasonic center frequency, emitting and receiving in the circuit of ultrasonic.The ultrasonic can be produced by programming the PIC SCM. Three parts are constituted of the receiving circuit, they are ultrasonic receiving circuit, magnifying circuit and filtering circuit. Introduce the components of displaying circuit in distance circuit, countering frenquency and parts (counter, encoder and display)of the circuit. At last, author introduces the circuit of temperature compensating and some methods of path grogramming in robot using and simulation result based on VB.The paper analyse the error of the system. The system error includes two aspects, one is hardware, which include the error of ultrasonic emitter, counter, encoder and so on; the other is software error,which include the programme.There are two results in this thesis,one is modeling and simulating the step motor based on MATLAB/SIMULINK, the other is constructing a communication platform based on VB and test the validity.更多还原