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Design of Intelligent Robot Maze Based on MCS-51 Single Chip Microcomputer
A robot should have several characteristics: moving functions, performing functions, feelings, and intelligence. At present, there are no more than 20 robot competitions involving hardware and software simulations held by countries all over the world. All kinds of robot games have a common purpose: to cultivate the spirit of scientific innovation, to stimulate the imagination of thinking, and to encourage the combination of theory and practice. Not only that, but now more and more automatic control products have been involved in production, and have been widely used in agriculture and industry. The new way of working will greatly shorten the time of manual work and reduce the expenditure of physical labor. The micro-machine mouse that walks the maze is mainly based on the principle of Auto Guided Vehicle (AGV), which realizes the mouse identification route, judges and automatically avoids obstacles, and selects the correct travel route to get out of the maze. Here you choose to make a simple travel device that will allow you to avoid obstacles or labyrinths. In order to realize the car identification route, judge and automatically avoid obstacles, choose the correct travel route, the obstacle judgment uses single-beam reflection sampling infrared sensor, the drive motor adopts DC motor, and the control core adopts MCS-51 single-chip microcomputer. Control uses time-sharing multiplexing technology, and only uses one single-chip microcomputer to realize functions such as signal acquisition, line judgment, and motor control. The maze consists of 16 & TImes; 16 zones. The starting point is set at the corner and the end point is located in the center, occupying 4 areas. Each zone is 180 mm & TImes; 180 mm, with a wall height of 50 mm and a thickness of 12 mm, painted white on the sides and black on the underside, as shown in Figure 1.
1 Overall design of the labyrinth control system
The maze car is composed of wall sensor, single-chip control board, power and steering system. The control block diagram is shown in Figure 2.
The maze car uses a wheeled movement. The advantages are: simple structure and control and mature technology. From the selected motor speed and tire diameter, the speed of the cart can be easily calculated. However, the resistance to the road surface or the driving torque of the uphill slope is an important factor. Consider this, use a plastic tire of a wireless remote control car on the tire. As shown in Fig. 3, the front wheel 1 is a universal caster or a spherical wheel, and the rear wheel 2 and the rear wheel 3 are independent drive wheels, and the steering is realized by the difference in rotational speed thereof. This combination is characterized by easy armature combination, and when the two drive wheels rotate at the same speed and in opposite directions, the car body can rotate around the midpoint of the two drive wheel wires. It is worth noting that the rotation center is inconsistent with the center of the car body. .
The choice of maze car body materials. Most of the materials used in the labyrinth are used for construction, and metal materials are generally used. The carriage and movement of the maze should not cause severe deformation and fracture, and it has sufficient strength from the mechanical point of view. The labyrinth has a small load and a light weight, and the life expectancy is not high. Therefore, use iron sheet.
1.1 Design of the control circuit of the maze car
The control circuit is mainly composed of a motor drive circuit, a single chip interface circuit, a power supply circuit and a sensor circuit. The control block diagram is shown in Figure 4.
(1) Infrared light-sensing circuit sensor emits infrared light through the light-emitting diode. If there is an obstacle in front, the infrared light will be reflected back and received by the photo-transistor. The single-chip program compares the signal and follows the set action request to the rear wheel. The two motors issue control commands that control the carriage to travel.
(2) The motor drive circuit uses the 89S51 single-chip microcomputer to control the action of the two drive motors through the L293D chip. According to the signal detected by the infrared sensor to the outside world, the 89S51 determines the direction of the maze vehicle according to the labyrinth path detection algorithm, and sends control commands to the left and right drive motors respectively. After the signal is driven by the L293D chip, the corresponding motor is directly controlled. The action causes the labyrinth to advance, retreat, and turn in accordance with the predetermined motion.
[For details, please refer to: Design of Intelligent Robot Maze Based on MCS-51 Microcontroller]
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