摘要搬运机器人是工业机器人的类型之一，随着自动化水平以及计算机技术的提高， 搬运机器人越来越引起海内外各界人士的重视。搬运机器人具有减轻人力、降低成本、 适应能力强的优势，因此，被广泛应用在工业过程中。本课题是搬运机器人的设计与 研究，重点阐述了搬运机器人系统的硬件电路搭建、软件方案，最后进行实物调试， 主要实现自主循迹、物块探测、颜色分辨、路径规划的功能。84946

首先论述了总体设计方案，介绍了系统运行环境、整体构造，选用轮式差速驱动 方式，确定了一些传感器的选型，在确定基本尺寸后，用 Proe 软件绘制了车底立体 图，搭建了整体结构。

其次，介绍了搬运机器人的硬件结构，本系统以 STC15W4K48S4 单片机为最小 系统模块，还包括程序下载、稳压、舵机驱动、循迹、测距、颜色分辨六个模块，同 时采用液晶显示作为硬件辅助模块。硬件搭建完以后，以 Keil 为软件平台，采用 C 语言编程，包括一些初始化程序，利用 PWM 控制车轮转速和舵机转角，并介绍了 PID 控制算法，用来纠正机器人与黑线的水平偏差，保证能沿着黑线准确移动。

接着探讨了路径规划问题，在一些路径规划算法相比较以后，最终选取 A*算法。 A*算法是一种引导式算法，在全局环境中，能够计算出发点到终点的最短距离，本 课题中，搬运机器人在抓取物体、检测物体颜色后，目标点就已知了，在每一步中通 过增加具有最短距离的邻近节点作为下一个要扩展的点。

最后，对搬运机器人进行了实际测试，结果表明，搬运机器人能够按照黑色引导 线准确行驶，能够抓取物块、判别物块颜色，系统运行稳定可靠，路径规划算法为后 续的研究奠定了基础。

毕业论文关键词：自主循迹；PWM；PID 控制；路径规划

Abstract Handling robot is a kind of the industrial robot。 With the rapid development of the level of automation and computer technology, handling robot has risen more and more attention of people from all of the world。 Handling robot has the advantages of relieving labor force, reducing costs and being adaptable。 As a result, handling robot has been widely used in industrial processes。 This paper studies the design and research of the handling robot, which focuses on the hardware circuit structures and the software design of the whole system。Finally,we conduct the physical debugging in order to achieve the function of self-tracking, material exploration, color resolution and path planning。

First, the general planning of handling robot is described。 The operating environment and the overall structure of the system are introduced。 The way of wheeled differential drive and the selection of a number of sensors have been determined。 After determining the basic size, the perspective view of the vehicle is drawn with the Proe software and a unitary structure is set up。

Secondly, the hardware structure of the handling robot is introduced。 This system uses STC15W4K48S4 microcontroller as the minimum system module, further includes a program download module, voltage regulator, servo drive module, tracking module, ultrasonic module, color resolution module and using the liquid crystal display module as a hardware-assisted module。 After completing the design of hardware  structure,  the software using the C programming language and Keil software development platform, has been designed。 Some initialization procedures are introduced including the use of the microcontroller PWM signal output to control the wheel speed and steering angle。 PID control algorithm used to correct deviation between the robot and the black line is described, to ensure that handling robot can move along the black line accurately。