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

 

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

}