毕业设计-可遥控搬运小车设计 - 图文

毕业论文（设计）

题 目 可遥控搬运小车设计—硬件设计 系 部 专 业 年级 学生姓名 学 号 指导教师 可遥控搬运小车设计—硬件设计

学生 指导教师

【摘 要】本设计是以现代物流仓储为背景，主要分为两大部分，可遥控搬运小车和控制终端。搬运小车采用STC89C52RC单片机作为主控制器，小车上装有光电传感器、基于Zigbee的无线通信模块、2自由度的机械臂。光电传感器用以检测地面上的黑带；无线通信模块用以接受控制终端发送的控制指令；机械臂用以抓取地面货物。控制终端采用STC89C52RC单片机作为主控制器，包括基于Zigbee的无线通信模块、条形码扫描枪、12864液晶显示器和按键。通信模块用以发送控制指令到小车；扫描枪用以读取货物上的条形码信息；12864用以显示条形码等相关信息；按键用以手动输入小车的控制指令。通过本系统可实现现代仓储的智能化和真正的无人职守。

【关键词】仓储 智能搬运 Zigbee 机械臂 无线通信

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The Design of Remote Control handling car-software design

【Abstract】the background of this design is based on modern logistics and storage, are divided into two parts, remote handling car and control Terminal. Handling car with the stc89c52rc single - chip computer as the primary controller, Dolly is equipped with electro - optical sensors, based on ZigBee wireless communications module, 2 - DOF robotic arm. Black belt on the photoelectric sensor used to detect ground ; wireless communication module to accept control commands sent control terminal ; mechanical arm to grab goods on the ground. Control terminals with the stc89c52rc single - chip computer as the primary controller, including based on ZigBee wireless communications module, barcode scanner, 12,864 LCD display and press the key. Communication module is used to send control commands to the car ; scanner used to read information on the goods barcode ; 12,864 related information such as to display the barcode ; keys to manually enter the car's control instructions. Modern warehouse is achieved by this system of intelligent and really no one of his or her duties.

【Keywords】Storage intelligent handling ZigBee manipulator wireless communication

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目 录

1 绪论 ..................................................................... 1

1.1 背景 ................................................................ 1 1.2 现状与发展 .......................................................... 1 1.3 论文主要工作 ........................................................ 2 2 方案论证 .................................................................. 2

2.1循迹模块方案论证 .................................................... 3 2.1.1 1个传感器方案 .................................................. 3 2.1.2 2个传感器方案 .................................................. 3 2.1.3 3个传感器方案 .................................................. 3 2.1.4 5个传感器方案 .................................................. 4 2.2 电源模块方案论证 .................................................... 4 2.2.1 LM7812稳压模块 ................................................. 4 2.2.2 LM1085稳压模块 ................................................. 5 2.3 光电对管后级电路方案论证 ............................................ 5 2.3.1 三极管方案 ...................................................... 5 2.3.2 集成比较器方案 .................................................. 6 2.4 电压比较器方案论证 .................................................. 6 2.4.1 迟滞电压比较器 .................................................. 6 2.4.2 窗口电压比较器 .................................................. 7 2.4.3 单限电压比较器 .................................................. 7

3 理论分析与计算 ........................................................... 8

3.1 电压比较器参考电压计算 .............................................. 8 3.2 LM1085参考电阻计算 ................................................. 9 4 硬件设计 ................................................................. 10

4.1 小车硬件设计 ....................................................... 11 4.1.1 单片机最小系统 ................................................. 11 4.1.2 电源稳压电路 ................................................... 12 4.1.3 循迹电路 ....................................................... 13 4.1.4 电机驱动电路 ................................................... 14 4.2 控制终端硬件设计 ................................................... 15 4.2.1 电源稳压电路 ................................................... 15

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