题目巡线机器人的设计目录摘要................................................................11绪论..............................................................21.1设计背景.......................................................21.2设计现状.......................................................21.3设计内容.......................................................22方案设计与论证....................................................32.1核心系统.......................................................32.2巡线系统.......................................................42.3避障系统.......................................................52.4显示系统.......................................................62.5动力系统.......................................................82.5.1电机......................................................82.5.2电机驱动系统...............................................82.6时钟电路.......................................................92.7复位电路.......................................................92.8外界信息输入系统..............................................102.8.1独立键盘.................................................102.8.2红外线遥控器..............................................102.9语音系统.....................................................112.10总体设计....................................................113软件设计.........................................................133.1主程序.......................................................133.2路径选取子程序................................................143.3显示子程序....................................................153.4巡线子程序....................................................163.5PWM调速子程序................................................173.6避障子程序....................................................183.7路径识别子程序................................................18I3.890°、180°转弯子程序........................................193.9返回子程序...................................................194机器人制作与改进.................................................194.1制作流程.....................................................194.1.1核心主板.................................................204.1.2机器人框架...............................................204.2制作中出现的问题及改进结果...................................214.2.1PCB板...................................................214.2.2机器人框架...............................................215系统测试及数据记录...............................................215.1调试步骤.....................................................225.2模块调试.....................................................225.2.1驱动电路及动力系统.......................................225.2.2巡线系统.................................................235.2.3避障系统.................................................235.3整体调试.....................................................236结论.............................................................24参考文献...........................................................25谢辞...........................................................26附录1电路原理图..................................................27附录2PCB覆铜3D图..............................................28附录3源程序....................................................
