基于STC89C52控制系统的校园送餐机器人设计

针对校园安全和学生送餐需求,设计了一种以STC89C52单片机为控制核心的全自动校园送餐机器人。送餐机器人由通过吸盘式直流牵引电磁铁连接的自主行走单元和外卖箱单元组成。控制系统作为送餐机器人的核心,由主控模块、红外传感器模块、超声波避障模块、电机驱动模块、电源模块等部分组成,具有路径识别和自主避障的功能,可以准确地识别目标路径。自主行走单元系统采用PWM调控机器人的速度,安装在机器人底盘上的新型集成红外传感器DRS3100对轨道形状及宽度进行循迹,并将检测到的信号传输给STC89C52,控制机器人左右电机的运转,进而调整运行方向或停止。应用超声波测距模块,通过单片机及程序的控制使送餐机器人在检测到距离障碍物20 cm左右时停止工作。使用运动函数控制机器人的动作完成全自动化送餐。在试制的样机上进行了机器人控制系统性能测试,实验结果表明,该送餐机器人运动平稳,适应能力强,具有很高的实用价值。

An automatic campus meal delivery robot based on SCM(single chip microcomputer)STC89C52 was designed,which was used to meet the demands of campus delivery.The robot system was composed of autonomous walking unit and takeout box unit,which were connected by suction disk DC traction electromagnet.As the core of the campus meal delivery robot,the control system was composed of main control module,infrared sensor module,ultrasonic obstacle avoidance module,motor drive module,power supply module and so on.It had the functions of path recognition and autonomous obstacle avoidance,and can accurately identify the target path.The autonomous walking unit system used PWM to control the speed of the robot.A new integrated infrared sensor DRS3100 installed on the robot chassis detects the obstacles on the road and route,and transmits the detected signal to STC89C52 to control the operation of the left and right motor of the robot,so as to adjust the operation direction or stop.The ultrasonic ranging module was used to make the campus meal delivery robot stop working when it detected the distance between the robot and the obstacle is less than or equal to 20 cm.The motion function was used to control the movement of the robot to complete the automatic delivery of meals.The performance of the robot control system was tested on the experimental prototype.The experimental results showed that the campus meal delivery robot had stable movement,strong adaptability and high practical value.