毕 业 设 计 指 导 课
类人机器人
基于51单片机类人机器人智能巡线的设计与实
现
摘要： 针对类人机器人如何在规定的赛道上实现智能巡线行走的问题，提出采用利用灰度传感器识别赛道，并以51单片机为核心对机器人编程控制的方法，实现该类人机器人通过识别白色光敏带赛道，遇到转弯信号能及时反馈并准确转弯的功能。通过脱机运行、步态调试和现场模拟等实验表明，基本实现类人机器人在规定赛道智能巡线行走，但存在反应调整时间长、速度较慢等问题还未有效解决。经过适当改造之后，该机器人既能克服传统类人机器人结构复杂行走不稳的缺点，又可以在一定程度上模仿人类行走动作，实现在复杂外部环境地形内探测行走的问题。 关键词： 智能巡线；灰度传感器；51单片机；类人机器人
Design and Implementation of Intelligent Robot Tracking Control System
Based on 51 Singlechip
Abstract: For how the humanoid robot in the provisions of the track to achieve intelligent patrol line walking problem,proposed to use the gray sensor to identify the track and 51 single-chip as the core of the robot programming control method, To achieve the type of human robot through the identification of white light-sensitive track, encountered turn signal can be timely feedback and accurate turning function. Off-line operation, gait debugging and field simulation experiments show that the basic realization of the humanoid robot in the provisions of the track intelligent patrol line walking, but there is a long time to adjust the reaction, the speed is slow and other issues have not been effectively resolved. After appropriate modification, the robot can overcome the shortcomings of the traditional humanoid robot structure complex movement instability, but also to a certain extent, imitate the human walking action, in the complex external environment to detect the problem of walking within the terrain. Keywords: Intelligent inspection line; Gray scale sensor; 51 single chip; Humanoid robot
目录
目录 .......................................................................................................................................................1 第一章 引言 .................................................................................................................................................2
1.1 选题背景及意义 ............................................................................................................................3
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类人机器人
1.2 国内外研究现状 ............................................................................................................................3 1.3本文主要研究内容及章节安排 ......................................................................................................3 第二章 类人机器人的设计及控制 ..............................................................................................................3
2.1 类人机器人的智能巡线系统设计 .................................................................................................3 2.2 系统的优越性 ................................................................................................................................4 第三章 硬件设计 .........................................................................................................................................5
3.1 51单片机的电路设计.....................................................................................................................5 3.2 灰度传感器的使用 ........................................................................................................................5 3.3 C型足的设计 ..................................................................................................................................5 第四章 总结 .................................................................................................................................................6 参考文献 .......................................................................................................................................................7
第一章 引言
2
【精品毕设】基于51单片机类人机器人智能巡线的设计与实现
