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面包屑導航結束 --> <!-- 頁面標題開始 --> <div id="n1l1njb9b" class="title"> <h3><a>躲避障礙AGV移動車實驗<small></small></a></h3> </div> <!-- 頁面標題結束 --> <hr class="featurette-divider"> <!-- 中部開始 --> <div id="n1l1njb9b" class="container"> <!-- 正文 --> <div id="n1l1njb9b" class="lead" id="print"> <p> <b><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">一、實驗目的</span></b></p> <p class="MsoNormal"><span lang="EN-US">1)</span><span style="font-family:宋體; mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">了解躲避障礙</span><span lang="EN-US">AGV</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">移動車的結構組成、運動原理、控制原理及工作過程。</span></p> <p class="MsoNormal"><span lang="EN-US">Z)</span><span style="font-family:宋體; mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">了解各種控制元器件的結構組成和工作原理。</span></p> <p class="MsoNormal"><span lang="EN-US">3)</span><span style="font-family:宋體; mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">掌握</span><span lang="EN-US">LLWIN</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">軟件的編程和應用。</span></p> <p class="MsoNormal"><span lang="EN-US">4)</span><span style="font-family:宋體; mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">培養創新設計能力和實際動手能力。</span></p> <p class="MsoNormal"><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">二、主要儀器設備</span></p> <p class="MsoNormal"><span lang="EN-US">1)</span><span style="font-family:宋體; mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">移動機器人模型組合包。</span></p> <p class="MsoNormal"><span lang="EN-US">2)</span><span style="font-family:宋體; mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">智能接口板、直流電源。</span></p> <p class="MsoNormal"><span lang="EN-US">3) LLWIN</span><span style="font-family: 宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">軟件。</span></p> <p class="MsoNormal"><span lang="EN-US">4)</span><span style="font-family:宋體; mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">計算機。</span></p> <p class="MsoNormal"><span lang="EN-US"> </span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">三、實驗要求</span></p> <p class="MsoNormal"><span lang="EN-US"> </span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">躲避障礙</span><span lang="EN-US">AGV</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">移動車見圖</span><span lang="EN-US">63-1</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">，能夠在前方遇到障礙時自動躲避并改變前進方向。躲避障礙</span><span lang="EN-US">AGV</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">移動車由行走機構、障礙檢測裝置、智能接口板和電源組成。該</span><span lang="EN-US">AGV</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">移動車使用下列輸人輸出設備</span><span lang="EN-US">:2</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">個電動機，用于控制移動車左右車輪的運轉，控制移動車的行走</span><span lang="EN-US">;2</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">個按鈕開關與凸輪配合作為旋轉編碼器使用產生脈沖信號，分別控制所對應左右車輪轉速</span><span lang="EN-US">;</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">在移動車左前方、右前方和正后方裝有限位開關，用于檢測障礙物的方向，并發出信號。行走機構由兩個主動輪和一個無動力的輔助輪組成，均安裝在車架上。電源和智能接口板安裝在車架上部。</span></p> <p class="MsoNormal"><span lang="EN-US"><img src="/upload/images/201409/14103627044645.jpg" alt="" /><br /> <!--[endif]--></span></p> <p class="MsoNormal"><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">躲避障礙</span><span lang="EN-US">AGV</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">移動車的工作過程如下</span><span lang="EN-US">:</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">通電后，移動車前方沒有障礙時，該車一直向前走</span><span lang="EN-US">;</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">當前方碰到障礙時，通過左前方和右前方兩個限位開關傳出的信號的不同來控制其左轉、右轉、后退運動</span><span lang="EN-US">;</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">在其后退時，在后方有障礙時歹正后方限位開關產生信號，停止后退改為前進運動。本實驗要求由學生自己完成模型的設計與安裝，并且按照運動過程編寫程序，結構可參照圖</span><span lang="EN-US">63-1e</span></p> <p class="MsoNormal"><span lang="EN-US"> </span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">四、實驗步驟</span></p> <p class="MsoNormal"><span lang="EN-US"> 1)</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">根據躲避障礙</span><span lang="EN-US">AGV</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">移動車的動作要求，確定設計方案。</span></p> <p class="MsoNormal"><span lang="EN-US"> z}</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">根據設計方案選擇所需要各種機械零部件。</span></p> <p class="MsoNormal"><span lang="EN-US"> 3)</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">組裝躲避障礙</span><span lang="EN-US">AGV</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">移動車，應保證各個運動部件運動平穩，無卡阻現象。</span></p> <p class="MsoNormal"><span lang="EN-US"> 4)</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">選擇合適的電線，將智能接口板與輸人輸出器件連接。</span></p> <p class="MsoNormal"><span lang="EN-US"> 5)</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">根據躲避障礙</span><span lang="EN-US">AGV</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">移動車的動作要求，編寫程序并調試。</span></p> <p class="MsoNormal"><span lang="EN-US"> 6)</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">完成實驗內容后，將模型分解、清點后放人工具盒內。</span></p> <p class="MsoNormal"><span lang="EN-US"> </span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">五、思考題</span></p> <p class="MsoNormal"><span lang="EN-US"> n</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">該移動車可以再增加什么傳感器，使其具有更多的功能</span><span lang="EN-US">?</span></p> <p class="MsoNormal"><span lang="EN-US"> 2)</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">如何編程能夠使該</span><span lang="EN-US">AGV</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">移動車在躲避障礙一定次數后自動停機</span><span lang="EN-US">?</span></p> <p class="MsoNormal"><span lang="EN-US"> </span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">六、實驗報告內容</span></p> <p class="MsoNormal"><span lang="EN-US"> 1)</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">寫出各輸出元件及輸入元件的用途。</span></p> <p class="MsoNormal"><span lang="EN-US"> 2)</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">寫出躲避障礙</span><span lang="EN-US">AGV</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">移動車的工作原理及工作過程。</span></p> <p class="MsoNormal"><span lang="EN-US"> 3)</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">完成上述思考題。</span></p> <p class="MsoNormal"><span lang="EN-US"> 4)</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">寫出實驗總結，應包括實驗過程、體會和心得。</span></p> <p class="MsoNormal" align="center" style="margin-top:4.5pt;margin-right:0cm; margin-bottom:7.5pt;margin-left:0cm;text-align:center;line-height:13.5pt; 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