目录
摘要 .............................................................................................................................................I
ABSTRACT ..............................................................................................................................II
1 绪论.........................................................................................................................................1
1.1 概述...............................................................................................................................1
1.2 选题依据和意义............................................................................................................1
1.3 国内外自动扫地机的发展现状...................................................................................2
2 MC9S12DG128 单片机简介 ..................................................................................................4
2.1 前言................................................................................................................................4
2.2 引脚说明........................................................................................................................4
2.3 操作模式.......................................................................................................................7
2.4 本系统中的 MC9S12DG128 单片机 ..........................................................................7
3 系统总体设计.........................................................................................................................9
3.1 自动扫地机系统组成....................................................................................................9
3.1.1 信息采集模块......................................................................................................9
3.1.2 控制模块..............................................................................................................9
3.1.3 运动模块............................................................................................................10
3.1.4 清扫模块...........................................................................................................10
3.2 自动扫地机系统总体设计.........................................................................................10
3.2.1 自动扫地机功能设计........................................................................................10
3.2.2 自动扫地机硬件框架........................................................................................11
3.2.3 自动扫地机软件框架........................................................................................12
3.2.4 自动扫地机机械结构........................................................................................13
3.3 电机和电池选型..........................................................................................................13
3.3.1 电机选型............................................................................................................13
3.3.2 电池选型............................................................................................................14
4 系统硬件电路和软件流程....................................................................................................16
4.1 机械结构设计..............................................................................................................16
4.1.1 自动扫地机本体设计........................................................................................16
4.1.2 传感器配置与安装............................................................................................16
4.1.3 运动控制系统结构............................................................................................16
4.2 硬件电路设计..............................................................................................................17
