智能寻迹避障清障机器人设计(电路图附件+代码)

附 ?录

智能小车原理图

智能小车拓展板原理图

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智能小车拓展板PCB

智能小车底板PCB

Arduino UNO原理图

Arduino UNO PCB

程序部分

void Robot_Traction() ????????????????????//机器人循迹子程序

{

??//有信号为LOW ?没有信号为HIGH

??SR = digitalRead(SensorRight);//有信号表明在白色区域，车子底板上L1亮；没信号表明压在黑线上，车子底板上L1灭

??SL = digitalRead(SensorLeft);//有信号表明在白色区域，车子底板上L2亮；没信号表明压在黑线上，车子底板上L2灭

??if (SL == LOW && SR == LOW)

????run(); ??//调用前进函数

??else if (SL == HIGH & SR == LOW)// 左循迹红外传感器,检测到信号，车子向右偏离轨道，向左转

????left();

??else if (SR == HIGH & SL == LOW) // 右循迹红外传感器,检测到信号，车子向左偏离轨道，向右转

????right();

??else // 都是白色, 停止

????brake();

}



void bz()//障碍程序

{

??front_detection();//测量前方距离

??if (Front_Distance < 20) //当遇到障碍物时

??{

????brake3(2);//先刹车

????back3(3);//后退减速

????brake3(2);//停下来做测距

????left_detection();//测量左边距障碍物距离

????right_detection();//测量右边距障碍物距离

????if ((Left_Distance < 20 ) && ( Right_Distance < 20 )) //当左右两侧均有障碍物靠得比较近

??????spin_left3(0.7);//旋转掉头

????else if (Left_Distance > Right_Distance) //左边比右边空旷

????{

??????left3(4);//左转

??????brake3(1);//刹车，稳定方向

????}

????else//右边比左边空旷

????{

??????right3(4);//右转

??????brake3(1);//刹车，稳定方向

????}

??}

??else

??{

????run(); //无障碍物，直行

??}

}



void gs() //跟随函数

{

??front_detection();//测量前方距离

??R = digitalRead(SensorR);//有信号表明在白色区域，红外传感器LED1亮

??L = digitalRead(SensorL);//有信号表明在白色区域，红外传感器LED2亮

?if (Front_Distance >9&&Front_Distance <= 30&&L == LOW&&R==LOW)

????run(); ??//调用前进函数

??else if (L == HIGH & R == LOW)// 左跟随红外传感器,检测到信号，车子向右偏离轨道，向左转

????left();

??else if (R == HIGH & L == LOW) // 右跟随红外传感器,检测到信号，车子向左偏离轨道，向右转 ?

????right();

??else if(Front_Distance > 4 && Front_Distance <= 9&&L == LOW&&R==LOW)

????brake();//先刹车

????else if(Front_Distance > 0 && Front_Distance <= 4&&L == LOW&&R==LOW)

??back();

????else // 都是黑色, 停止

??brake(); ?}

void ceju() //测距程序

{

?front_detection();//测量前方距离

?if (Front_Distance > 0 && Front_Distance <= 99 )

?{

?Serial.print("distance= ");

?Serial.print(Front_Distance);

?Serial.println("cm");

?delay(700);

?}

?if(Front_Distance >99 )

?Serial.println("Out of range");

?delay(700);

??}

??

void jxbcs()

{

??int robotIniPosArray[4][2] = {

??{servopin3, 90},

??{servopin2, 90}, ?

??{servopin4, 90},

??{servopin1, 90}

??};

???for (int i = 0; i < 4; i++){

????servopulse(robotIniPosArray[i][0], robotIniPosArray[i][1]);

??}

}

void jxb(char val1)

{

??val = Serial.read();

??switch (val1) {

????case 'W': ?a += 10;if (a > 140) a = 140;servopulse(servopin1, a);

????Serial.print("a="); Serial.println(a);break;

????case 'S': a -= 10;if (a < 70) a = 70;servopulse(servopin1, a);

?????Serial.print("a="); Serial.println(a);break;

????case 'A': b += 10;if (b > 180) b = 180; ?

????Serial.print("b="); Serial.println(b);break;

????case 'D': b -= 10;if (b < 0) b = 0;

????Serial.print("b="); Serial.println(b);break;

????case '8': ?c += 10;if (c > 180) c = 180;

????Serial.print("c="); Serial.println(c);break;

????case '5': c -= 10;if (c < 0) c = 0;

????Serial.print("c="); Serial.println(c);break;

????case '4': d += 10;if (d > 180) d = 180;servopulse(servopin4, d);

????Serial.print("d="); Serial.println(d);break;

????case '6': d -= 10;if (d < 0) d = 0; servopulse(servopin4, d);

????Serial.print("d="); Serial.println(d);break;

??????break;

????default:

??????break;

??}

}



void dump(decode_results *results)

{

??int count = results->rawlen;

??if (results->decode_type == UNKNOWN)

??{

????brake();

??}

}

void IR_IN() ????????????????????????????//机器人遥控子程序

{



??if (irrecv.decode(&results)) //调用库函数：解码

??{

????if (millis() - last > 250) //确定接收到信号

????{

??????on = !on;//标志位置反

??????dump(&results);//解码红外信号

????}

????if (results.value == CH0 ) ???{ run2();delay(100);brake2();}//前进

????if (results.value == CH1 ) ???{ back2();delay(100);brake2();}//后退

????if (results.value == PREV ) ??{ left2();delay(80);brake2();}//左转

????if (results.value == NEXT ) ??{ right2();delay(80);brake2();}//右转

????if (results.value == CH2 ) ????brake2();//停车

????if (results.value == PLAY ) ???spin_left2();//左旋转

????if (results.value == EQ ) ?????spin_right2();//右旋转

????if (results.value == IR_200 ) { jxbcs();keyMode = KEYMODE_1;brake2();}

????if (results.value == VOL1 ) ??{ val1 = 'W';jxb(val1); }

????if (results.value == VOL2 ) ??{ val1 = 'S'; jxb(val1); }

????if (results.value == IR_0 ) ??{ val1 = 'A';jxb(val1); }

????if (results.value == IR_100 ) { val1 = 'D';jxb(val1); }

????if (results.value == IR_1 ) ??{ val1 = '8'; jxb(val1); }

????if (results.value == IR_2 ) ??{ val1 = '5';jxb(val1); ?}

????if (results.value == IR_4 ) ??{ val1 = '4';jxb(val1); }

????if (results.value == IR_5 ) ??{ val1 = '6'; jxb(val1);}

????if (results.value == IR_6 ) ??keyMode = KEYMODE_1;

????if (results.value == IR_7) ???keyMode = KEYMODE_2;

????if (results.value == IR_8) ???keyMode = KEYMODE_3;

????if (results.value == IR_9) ???keyMode = KEYMODE_4;

????last = millis();

????irrecv.resume(); // Receive the next value }}



void LEDTask()

{

??switch (keyMode)

??{

case KEYMODE_1: IR_IN();digitalWrite(PORT_LED1, HIGH); break; //调用复位程序case KEYMODE_2: Robot_Traction(); digitalWrite(PORT_LED1, LOW);break;

case KEYMODE_3: bz();digitalWrite(PORT_LED1, HIGH);break;//用超声波避障程序

case KEYMODE_4: gs();digitalWrite(PORT_LED1, LOW);break; //调用跟随程序

????case KEYMODE_5: ceju(); digitalWrite(PORT_LED1, HIGH);break;//测距

????default:

??????break;}}



void reve()

{

??if( Serial.available()>0 ){

?????????int receive=Serial.parseInt();

??if(receive>=1 && receive<=5){moveSpeed=int(receive*40+55);}

??else if(receive==0) ???????{brake();Serial.println("Speed=0,brake");}//停车

??else if(receive==100) ?????{ val1 = 'A';jxb(val1); }

??else if(receive==101) ?????{ val1 = 'W';jxb(val1); }

??else if(receive==102) ?????{ val1 = 'S';jxb(val1);}

??else if(receive==103) ?????{ val1 = 'D';jxb(val1);}

??else if(receive==104) ?????{ val1 = '5';jxb(val1);}

??else if(receive==105) ?????{ val1 = '4';jxb(val1); }

??else if(receive==106) ?????{ val1 = '6';jxb(val1);}

??else if(receive==107) ?????{ val1 = '8';jxb(val1);}

??else if(receive==117) ?????{ jxbcs(); keyMode = KEYMODE_1;Serial.println("FW");brake2();} ????

??else if(receive==108) ????{run(); Serial.println("run");}//前进

??else if(receive==109) ????{back();Serial.println("back");}//后退

??else if(receive==110) ????{brake();Serial.println("brake");}//停车

??else if(receive==111) ????{ left();Serial.println("left");}//左

??else if(receive==112) ????{right();Serial.println("right");}//右

??else if(receive==113) ????{keyMode = KEYMODE_2;Serial.println("Robot_Traction");}//寻迹

else if(receive==114) ????{keyMode = KEYMODE_3;Serial.println("bz");}//避障

else if(receive==115) ????{keyMode = KEYMODE_4;Serial.println("gs");}//跟随

else if(receive==116) ????{keyMode = KEYMODE_5;}}}

void loop()

{

??reve();//蓝牙遥控

??IR_IN();//红外遥控

??LEDTask();//模式区分

??servopulse(servopin2, b);//2舵机连续转动

??servopulse(servopin3, c);//3舵机连续转动

}