嵌入式智能机器人平台研究摘 要：针对传统工业机器人采用的封闭式结构的局限性，在WindowsCE．NET系统基础上，通过剪裁定制 ，去 除冗余的功能，搭建嵌入式智能机器人平台．该智能机器人系统具有移动机器人需要的主要感知模块，并有丰富的 运动控制接口及驱动模块．同时 ，设计了多传感器数据融合 、轨迹规划、运动控制、无线网络通信 、图形人机界面等智 能机器人的测试软件和应用模块．该智能机器人平台具有模块化、易扩展、可移植、可定制、硬件体积小、功耗低、实 时性强、可靠性高等优点． 关键词：智能机器人平台；WindowsCE．NET；实时控制；自主机器人；双目视觉；语音识别引言(Introduction) 随着计算机技术 的快 速发展 ，机器 人技术也得 到了飞速发展．然而 ，现有机器人系统在硬件 和软件 开发方面虽然已经趋于成熟，但依然存在一些问题． 它们的硬件多是专用的，软件系统也多采用 Windows 2000或者 WindowsXP系统…．这些机器人系统 主要 存在以下一些缺点 ： (1)系统的实时性差．机器人控制系统是一个实 时性要求非常高的控制系统，作为一般桌面应用的 Windows和 Linux操作系统很难达到高实时性的要 求． ． (2)开放性 以及扩展性差．常见的机器人控制系 统存在的一个 问题就是 系统 的冗余大、开放性扩展 基金项 目：国家 自然科学基金 资助项 目(60475036) 收稿 日期 ：2005—05—16 性差，系统适用于特定的应用 ，不便于在硬件和软件 上进行扩展和剪裁． (3)软件的独立性差．软件结构及其逻辑结构依 赖于处理器硬件 ，难以在不同的系统 间移植． (4)缺少友好的人机交互界面． 2 系统概述(System DESCRIPTION) 为促进当前智能机器人研究和应用，迫切需要 开发“具有开放式结构 的、模块化 、标准化 的嵌 入式 智能机器人平台”．这种智能机器人平台具
上传时间： 2022-02-12
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常用电源类通讯类ST单片机芯片集成库原理图库PCB库AD封装库器件库2D3D库+器件手册合集，已在项目中使用，可以作为你的设计参考。SV text has been written to file : 74系列芯片.csv74HC04 6通道单输入输出反相器74HC138 3线到8线路解码器SN74HCT138 3线到8线路解码器74HC175 四D型触发器的复位触发器74HC573 八路三态同相透明锁存器SN74HCT573 八路三态同相透明锁存器74HC595 8位串行输入/8位串行或并行输出 存储状态寄存器74LS00 四2输入与非门74LS01 四2输入与非门74LS04 十六进制逆变器74LS08 四2输入与门74LS10 三3输入与非门74LS148 8线到3线优先编码器74LS192 双时钟方式的十进制可逆计数器74LS20 双4输入与非门74LS32 四2输入或门74LS74 双路D类上升沿触发器74LS74X2 双路D类上升沿触发器CSV text has been written to file : STM32系列.csvLibrary Component Count : 5Name DESCRIPTION----------------------------------------------------------------------------------------------------STM32F103C8T6 STM32F103RCT6 STM32F103RET6STM32F103VBT6 STM32F103ZET-AMS1117 三端稳压芯片AOZ1036 LM2576-12 DC降压芯片LM2576-3.3 DC降压芯片LM2576-5.0 DC降压芯片LM2576-ADJ DC降压芯片LM2577-ADJ DC升压芯片LM2596-12 DC降压芯片LM2596-3.3 DC降压芯片LM2596-5.0 DC降压芯片LM2596-ADJLM317 可调线性稳压芯片LM7805 MC34063 REF196 3V3基准电压源REF5040 高精度电压基准SX1308 可调升压芯片TL431_DIP 可调基准稳压芯片TL431_SMD 可调基准稳压芯片TL494 电源管理ICTP4056TPS5430 TPS54331CC2530CH340G DM9000A DM9000CEP DP83848I 网络芯片DS1302 ENC28J60 以太网控制芯片FT232RL
上传时间： 2022-03-03
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变压器Altium Designer AD原理图库元件库文件CSV text has been written to file : 12.1 - 变压器.csvLibrary Component Count : 8Name DESCRIPTION----------------------------------------------------------------------------------------------------AS3018-E-0280-090 9V 低频变压器DA10XC 数字隔离变压器EPC13-5V 5V 高频变压器EPC13-5V+12V 高频变压器EPC17-12V 12V 高频变压器EPC17-14V+5V 14V+5V 高频变压器EPC17-2X7V 2X7V 高频变压器EPC17-5V 12V 高频变压器
标签： 变压器 altium designer
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光耦传感器元件Altium Designer AD原理图库元件库文件CSV text has been written to file : 11.1 - 传感元件.csvLibrary Component Count : 34Name DESCRIPTION----------------------------------------------------------------------------------------------------6N137 10M高速集成光耦817 线性光耦AH3144 单极霍尔开关EL357N 线性光耦GP1A5xHR 槽间光电开关I-LED 红外二极管IDR 光敏电阻MIC1 电容麦克风MIC2 电容麦克风MPU6050 数字运动传感器MS5611 气压传感器OPT 红外接收管RG5528 光敏电阻RH6030 单通道电容式触摸ICROC16A 摇杆电位器ROC16B 摇杆电位器Reed Switch 常开型干簧管S58 槽间光耦ST188 反射型光耦SW-58010PL 震动传感器TCRT5000 反射型光耦TLP181 光耦TLP181_1 光耦TLP280-4 4组光耦TLP521-1 1路开关光耦TLP521-2 2路开关光耦TLP521-2A 2路开关光耦TLP521-4 4路开关光耦TLP521-4A 4路开关光耦TMR1302S 全极霍尔开关TMR1302T 全极霍尔开关UGN3503 线性霍尔传感器VS1838B 红外接收头ZME1930006 干式电流互感器
标签： 传感器 altium designer
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常用继电器 Altium Designer AD原理图库+PCB封装库2D3D元件库文件原理图列表：CSV text has been written to file : 继电器.csvLibrary Component Count : 37Name DESCRIPTION----------------------------------------------------------------------------------------------------ATQ203 12V两组转换G4A-1A-E-12VD 12V一组常开G4A-1A-E-24VD 24V一组常开G4A-1A-E-5VD 5V一组常开G6K-2F-Y 两组转换-信号型HF32F/12-HS 12V一组常开HF32F/5-HS 5V一组常开HF46F/12-HS1 12V一组常开HF46F/24-HS1 24V一组常开HF46F/5-HS1 5V一组常开HF46F/9-HS1 9V一组常开HFD3 超小型两组转换HFD42 超小型两组转换HFKW-012-1ZW 12V一组转换HK19F-DC-12V 12V两组转换HK19F-DC-24V 24V两组转换HK19F-DC-5V 5V两组转换HK19F-DC-9V 9V两组转换HK4100F 一组转换HRS1H-S-DC5V 5V一组转换HRS2H-S-DCSV-N_X 5V两组转换JTKW-012-1HW-S 12V一组常开JTKW-012-1ZW-S 12V一组转换JZC-23F(12VDC) 12V单路双控JZC-23F(5VDC) 5V单路双控MKT6-S-12DH 12V一组常开SLA-05VDC-SL-A 5V一组常开SLA-12VDC-SL-A 12V一组常开SLA-24VDC-SL-A 24V一组常开SPA-S-112DM 12V一组常开SRD-05VDC-SL-C 5V一组转换SRD-09VDC-SL-C 9V一组转换SRD-12VDC-SL-C 12V一组转换SRD-24VDC-SL-C 24V一组转换SRD-S-105D 5V一组转换SRD-S-112D 12V一组转换TA-1a 一组常开PCB封装列表：PCB Library : 继电器.PcbLibDate : 2020/12/28Time : 17:25:41Component Count : 51Component Name012-1HW_BK012-1HW_W012-1ZW_BK012-1ZW_WATQ203G4A-1A-EG6K-2F-YHF46-xx-HS1HFD3-DIPHFD3-SMDHFD42HFD42-SHFD42-S1HK19F-DCHK4100FHRS1HHRS2HJQX-14FC-1A_BKJQX-14FC-1A_WJQX-14FC-1AH_BKJQX-14FC-1AH_WJQX-14FC-1B_BKJQX-14FC-1B_WJQX-14FC-1BH_BKJQX-14FC-1BH_WJQX-14FC-1C_BKJQX-14FC-1C_WJQX-14FC-1CH_BKJQX-14FC-1CH_WJQX-14FC-2A_BKJQX-14FC-2A_WJQX-14FC-2B_BKJQX-14FC-2B_WJQX-14FC-2C_BKJQX-14FC-2C_WJZC-23F(4123)JZC-32F_1HJZC-32F_1ZMKT6-S-12DHSLA-xxVDC-SL-ASPA-S-112DMSRD-A_BSRD-A_BKSRD-A_YSRD-B_BSRD-B_BKSRD-B_YSRD-C_BSRD-C_BKSRD-C_YTA-1a
标签： 继电器 Altium Designer
上传时间： 2022-03-13
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ADC模数转换器件Altium Designer AD原理图库元件库SV text has been written to file : 4.4 - ADC模数转换器件.csvLibrary Component Count : 29Name DESCRIPTION----------------------------------------------------------------------------------------------------ADC0800 National 8-Bit Analog to Digital ConverterADC0809 ADC0831 ADCADC0832 ADC8 Generic 8-Bit A/D ConverterCLC532 High-Speed 2:1 Analog MultiplexerCS5511 National 16-Bit Analog to Digital ConverterDAC8 Generic 8-Bit D/A ConverterEL1501 Differential line Driver/ReceiverEL2082 Current-Mode MultiplierEL4083 Current Mode Four Quadrant MultiplierEL4089 DC Restored Video AmplifierEL4094 Video Gain Control/FaderEL4095 Video Gain Contol/Fader/MultiplexerICL7106 LMC6953_NSC PCI Local Bus Power SupervisorMAX4147 300MHz, Low-Power, High-Output-Current, Differential Line DriverMAX4158 350MHz 2-Channel Video Multiplexer-AmplifierMAX4159 350MHz 2-Channel Video Multiplexer-AmplifierMAX4258 250MHz, 2-Channel Video Multiplexer-AmplifierMAX4259 250MHz 2-Channel Video Multiplexer-AmplifierMAX951 Ultra-Low-Power, Single-Supply Op Amp + Comparator + ReferenceMAX952 Ultra-Low-Power, Single-Supply Op Amp + Comparator + ReferenceMC1496 Balanced Modulator/DemodulatorPLL100k Generic Phase Locked LoopPLL10k Generic Phase Locked LoopPLL5k Generic Phase Locked LoopPLLx Generic Phase Locked Loop水位计
标签： adc 模数转换 altium designer
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AVR系列单片机Altium Designer AD原理图库元件库CSV text has been written to file : 3.1 - AVR系列单片机.csvLibrary Component Count : 34Name DESCRIPTION----------------------------------------------------------------------------------------------------AT90S2313 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>AT90S1200 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>ATTINY26 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>AT90S8515_DIP40 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>ATMEGA161_DIP40 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>ATMEGA162_DIP40 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>ATMEGA8515_DIP40 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>AT90S8515_TQFP44 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>ATMEGA161_TQFP44 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>ATMEGA162_TQFP44 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>ATMEGA8515_TQFP44 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>AT90S8535_DIP40 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>ATMEGA16_DIP40 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>ATMEGA163_DIP40 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>ATMEGA32_DIP40 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>ATMEGA323_DIP40 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>ATMEGA8535_DIP40 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>AT90S8535_TQFP44 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>ATMEGA16_TQFP44 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>ATMEGA163_TQFP44 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>ATMEGA32_TQFP44 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>ATMEGA323_TQFP44 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>ATMEGA8535_TQFP44 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>ATMEGA103 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>ATMEGA128 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>ATMEGA64 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>ATMEGA128(2) ATMEGA16L-8AIATMEGA16L-8PI ATMEGA48-10AI ATMEGA48-10PI ATMEGA8_DIP28 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>ATMEGA8_TQFP32 Atmel Microcontroller - Library created by carel.. <www.mpfreezone.com>CC2530
标签： avr 单片机 altium designer
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保险丝-晶振-光耦Altium Designer AD原理图库元件库CSV text has been written to file : 2.0 - 保险丝-晶振-光耦.csvLibrary Component Count : 17Name DESCRIPTION----------------------------------------------------------------------------------------------------4N256N137 Opto IsolatorFU 贴片保险丝FU 5x20 5*20保险丝FU DIP 直插保险丝PPTC PPTC自恢复保险丝Q817 ST188 反射式光电传感器TLP281 光耦TLP521-1TLP521-2 XATLS 贴片有源晶振XTAL-2P 2脚无源脚晶振XTAL-4P 4脚无源晶振XTAL-ACT-4P 4脚有源晶振XTAL-MC-4P MC系列4脚晶振光电传感器
标签： 保险丝 altium designer
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CH341系列编程器芯片usb转串口Altium Designer AD原理图库元件库CSV text has been written to file : 1.9 - CH341系列编程器芯片.csvLibrary Component Count : 56Name DESCRIPTION----------------------------------------------------------------------------------------------------CH311Q PC debug port monitorCH331T Mini USB Disk ControllerCH340G CH340H USB to TTL Serial / UART, USB to IrDACH340T USB to TTL Serial / UART, USB to IrDACH340R USB to IrDA, USB to RS232 SerialCH340S_P USB to Print Port / ParallelCH340S_S USB to TTL Serial / UART, pin compatible with CH341CH341A_S USB to TTL Serial / UART / I2C/IICCH341S_P USB to Print Port / ParallelCH341A_P USB to Print Port / ParallelCH341S_S USB to TTL Serial / UARTCH341S_X USB to EPP Parallel / SPI / I2C/IICCH341A_X USB to EPP Parallel / SPI / I2C/IICCH341T USB to TTL Serial / UART / I2C/IICCH345T USB to MidiCH352L_M PCI to 8255 mode 2 Parallel for MCU and 16C550 UART / IrDACH352L_P PCI to Print Port / Parallel and 16C550 UART / IrDACH352L_S PCI to Dual 16C550 UART, TTL Serial*2 / IrDA*1CH362L PCI Device / Slave only for RAM / Expansion ROMCH364F Member of CH364 chipsetsCH364P PCI Device / Slave Embedded Flash ROM, for Expansion ROMCH365P PCI Device / Slave, for I/O port or RAM / ROMCH372T USB Device / Slave for MCU, ParallelCH372A USB Device / Slave for MCU, ParallelCH372V USB Device / Slave for MCU, ParallelCH374S USB Host & Device / Slave for MCU, parallel / SPICH374T USB Host & Device / Slave for MCU, parallel / SPICH375S USB Host & Device / Slave for MCU, parallel / UART SerialCH375A USB Host & Device / Slave for MCU, parallel / UART SerialCH375V USB Host & Device / Slave for MCU, parallel / UART SerialCH411G FDC MFM encode and decodeCH421A Dual port bufferCH421S Dual port bufferCH423D I2C/IIC I/O expander, 16 GPO + 8 GPIO, 128 LEDs DriveCH423S I2C/IIC I/O expander, 16 GPO + 8 GPIO, 128 LEDs DriveCH423D_D I2C/IIC I/O expander, 16 GPO + 8 GPIO, 128 LEDs DriveCH423S_D I2C/IIC I/O expander, 16 GPO + 8 GPIO, 128 LEDs DriveCH423G I2C/IIC I/O expander, 6 GPO + 5 GPIOCH432Q Dual 16C550 UART with IrDA, parallel / SPICH432T SPI Dual 16C550 UART with IrDACH450K 6 Digits / 48 LEDs Drive & 8x6 Keyboard, I2C/IICCH450H 6 Digits / 48 LEDs Drive & 8x6 Keyboard, I2C/IICCH450L 8 Digits / 64 LEDs Drive & 8x8 Keyboard, I2C/IICCH451L 8 Digits / 64 LEDs Drive & 8x8 Keyboard, 4 Wire Interface, SPICH451S 8 Digits / 64 LEDs Drive & 8x8 Keyboard, 4 Wire Interface, SPICH451D 8 Digits / 64 LEDs Drive & 8x8 Keyboard, 4 Wire Interface, SPICH452L_2 8 Digits / 64 LEDs Drive & 8x8 Keyboard, I2C/IICCH452L_4 8 Digits / 64 LEDs Drive & 8x8 Keyboard, 4 Wire Interface, SPICH452S_2 8 Digits / 64 LEDs Drive & 8x8 Keyboard, I2C/IICCH452S_4 8 Digits / 64 LEDs Drive & 8x8 Keyboard, 4 Wire Interface, SPICH453S 16 Digits / 128 LEDs Drive, I2C/IICCH453D 16 Digits / 128 LEDs Drive, I2C/IICPCI 32Bit PCI Bus, simple / short cardPCI32 32Bit PCI BusUSB USB Port
标签： ch341 编程芯片 usb 串口 altium designer
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电阻-电容-电感 Altium Designer AD原理图库元件库CSV text has been written to file : 0.1 - 电阻-电容-电感.csvLibrary Component Count : 35Name DESCRIPTION----------------------------------------------------------------------------------------------------C 贴片电容C-MLCC 独石电容CBB CBB电容CC 瓷片电容CE 直插电解电容CE_SMD 贴片电解电容CS 直插固态电容CS_SMD 贴片固态电容CT 贴片钽电容CX 安规X电容CY 安规Y电容L 小功率贴片电感L-AL 色环电感L-CDRH 功率屏蔽电感L-MR 功率磁环电感L-NR NR磁胶电感L-PK 工字电感L-SMD CD系列贴片线绕功率电感L-UU 共模电感PTR902 双联电位器带开关R 贴片电阻R SIP9 9脚直插排阻R-8P4R 贴片排阻R-I 电流检测电阻R-Precision 精密贴片电阻R-S 色环电阻RG 光敏电阻RK0971221 双联电位器带开关RP 单联电位器RP-SMD 贴片电位器RP-WH148 双联电位器RT 热敏电阻R_MPR 5W无感水泥电阻R_VSR 压敏电阻TMR 隧道磁电阻
标签： 电阻元件 altium designer
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