【作者】 李雯雯；

【导师】 侯媛彬；

【作者基本信息】 西安科技大学 ， 控制理论与控制工程， 2008， 硕士

【摘要】 本文使用了超声波传感器和红外开关对自动导航小车周围的环境进行探测,并且利用工控机对超声波传感器所探得的障碍物信息进行处理,最终通过一种改进的模糊神经控制算法来完成障碍物的识别,从而实现了自动导航小车的自主避障。针对自动导航小车行驶中的安全问题,设计了一种近距离障碍物实时检测系统,较好地实现了对自动导航小车周围障碍物的实时测距,并通过人机交互,将信息实时反馈给用户进行适当处理。论文具体内容如下所示:系统硬件包括超声波测距传感器、工控机和其它连接器件。超声波测距传感器用来探测障碍物,利用红外开关对超声波传感器的测距盲区进行补偿,工控机是系统的数据采集控制站,控制4组超声波测距传感器和红外开关,进行数据的处理,发出控制信号,驱动执行机构,实现障碍物智能判别,使自动导航小车自动避障。系统软件包括数据采集模块和数据处理模块。数据采集模块用来实现对超声波信号发射的控制,数据输入/输出通道的开闭。数据处理模块用来计算障碍物的距离,判断障碍物方位并发出控制指令。软件使用编程语言VC++来编写。经联机调试及部分功能的测试,所设计的超声波传感器系统可实现对周围环境里障碍物的探测;障碍物判别系统将能够保障自动导航小车的安全行驶,系统基本达到了设计要求,运行稳定。另外,设计并制作了语音控制小车系统。该设计以凌阳单片机SPCE061A为核心控制部件,减速直流电机LS17RU419i,电机驱动芯片L298N,红外线光电传感器TCRT5000,反射式红外传感器ST178等为主要元件,智能控制技术为理论基础,论证了该方案的可行性。系统紧紧抓住了凌阳单片机的优点,围绕它设计和编制了语音控制小车软件部分,并应用了凌阳单片机SPCE061A的语音模块。本方案充分利用了凌阳单片机的强大的编程,语音处理,中断以及多功能的输入输出口,并且操作简单,易于修改,经调试达到了预期的目的。更多还原

【Abstract】 To realize the autonomous obstacle avoidance of the Automatic Guided Vehicle(AGV), a series of methods are presented in this paper, which include circumstance detection around the Automatic Guided Vehicle by ultrasonic sensors, obstacle input data process through computer techniques and pattern recognition of obstacles with a fuzzy-neuro control algorithm.Aiming at the safety problem of the Automatic Guided Vehicle driving, this thesis studies a real-time short-distance obstacles detecting system, to realize the real-time distance measurement of the obstacles all around of the Automatic Guided Vehicle and feedbacks the information to the users in real time. It mainly involves the following works:The system hardware is made up of ultrasonic sensors, computer and other junctions. The ultrasonic sensor would be used to detect the environment and the computer is the data collection and control station in the system. The computer was be used to control the 4 couples ultrasonic detect distance sensor, deal with the data, send controlling signals and drive executive mechanism. The system will differentiate obstacle intellective and make the Automatic Guided Vehicle avoid colliding automatic.The system software includes data collection module and data processing module. The data collection module is used to control sending ultrasonic signal, the opening and closing of I/O passageways. The data processing module is used to calculate the distance of obstacle, differentiate obstacle orientation and chose controlling order. The software was compiled with VC++, which is a special compile language.Through the analog and test of part function, the ultrasonic detect distance system designed by us has detected the obstacles in the range of design’s require. The differentiate obstacle system would ensure the Automatic Guided Vehicle running safely and achieve the design requirement basically.Besides,The system of a voice_controled car is described and designed in this paper. We take SPCE061A as the core control portion in this design, and direct-current speed reduction electric motor LS17RU419i, driving chip L298N of electrical motor, Photoelectric transducer of infrared ray TCRT5000, Reflecting infrared sensor ST178 are considered as the main control modules. The intellectual control technology is a theoretical foundation, and the feasibility of the project is given in the thesis. This system fastens the merit having graspedμ’nSP? microcomputer. Around that, design and work out the software system of this voice_controled car, and have fully utilized the pronunciation module of SPCE061A . Thatμ’nSP? microcomputer programming, pronunciation, interruption as well as the multi- purpose’s input and outlet is fully utilized on the scheme, and be easy to operate, be easy to revise. The design has reached expected purpose after the debugging.更多还原