1、 I 智能清洁装置控制系统设计 (系统软件) 摘要 随着信息技术的不断发展，各种产品的技术含量及复杂程度也越来越高，智能化的概 念开始逐渐渗透到各行各业以及我们生活中的方方面面。 本文以智能计算机控制技术为理论基础，设计了一种以 MSP430F149 单片机为主控制 器的智能清洁装置。该装置能按照一定的行走模式对复杂的空间环境进行清扫，当遇到障 碍物时它能启动避障程序绕开障碍物再按照原来的模式进行清扫工作。如果地面上有台 阶，它还能自动启动防摔落程序防止清洁装置被摔坏。文章主要围绕它的这些功能进行系 统设计以及相关功能软件的分析与设计。在 IAR EW430 编译环境下编写系统程序，编译 成功
2、并下载到硬件系统中。最终，本设计完成了智能清洁装置预期的功能，达到设计要求。 关键字：智能控制系统；扫地机器人；MSP430；路径规划 II Intelligent control system design of cleaning device (System software) Abstract With the development of the information technology, the technological content and complexity of products are becoming better than before. The concept
3、 of intelligent gradually began to infiltrate into all walks of life and we all aspects of the life. The paper based on the intelligent control technology, designing a intelligent cleaning device by MSP430F149 MCU which was the master controller of the system. The device can clean complicated space
4、according to establish walking pattern. When faced with obstacles it can start the obstacle avoidance procedures around obstacles. Then according to the original mode of cleaning work.If the ground with a step, it can also automatically start a program to prevent the cleaning device being broken. Th
5、e paper mainly around which these functions of the system design and function of software analysis and design. The next task is writing system programs in the compiler environment, After successfully compiled and downloaded to the hardware system. Eventually, the design completed intended function o
6、f the intelligent cleaning device and reached the design requirement. Key Word:Intelligent control system; Cleaning robot; MSP430; Path planning III 目录 摘要 I AbstractII 1 绪论 . 1 1.1 序言 . 1 1.2 选题的背景和意义 . 1 1.3 智能清洁装置的研究现状 . 2 1.4 智能清洁装置研究的关键技术 . 3 1.5 本课题研究的主要内容 . 4 1.6 本章小结 . 4 2 智能清洁装置控制系统结构与总体方案设计 . 5 2.1 智能清洁装置结构 . 5 2.2 智能清洁装置控制系统总体方案设计 . 6 2.2.1 控制器模块 . 6 2.2.2 信息采集模块 . 7 2.2.3 电机驱动模块 . 8 2.2.4 电源模块 . 10 2.3 本章小结 . 10 3 智能清洁装置控制系统软件设计 . 11 3.1 系统软件总体设计思路 11 3.1.1 软件结构 . 11 3.1.2 软件实现的
