红外避障系统的设计

避障作为机器人的一项最基本的功能，它需要在行动过程中实时监测周围环境障碍物。能够快速且精确的判断出障碍物的位置，对于机器人及时躲避障碍物非常重要。基于红外反射式传感器，利用发射的红外光在遇到障碍物时反射回来，通过检测反射回来的红外光感知障碍物的存在。同时利用音频锁相集成电路LM567，该芯片在电路中既担任振荡器，同时作选频接收。本设计外围电路简单，成本低廉，工作时不受电压温度的影响，可在多种环境下长期稳定的工作。调制发射和接收锁相解调均采用同一芯片，调制发射的频率即为锁相解调的频率，发射和接收始终保持同频。将锁相集成电路输出的信号送给单片机，单片机检测到障碍物的信号后驱动报警器。

Design of Infrared Obstacle Avoidance System

Obstacle avoidance is one of the most basic functions of the robot, it needs to be in action during the real -time monitoring of the surrounding environment obstacles. To quickly and accurately determine the position of obstacle, is very impor- tant for the robot to avoid obstacles. The design of infrared reflection sensor based on the use of the infrared light emitted, reflected in the face of obstacles, infrared light reflected back through the detection of the known obstacle. At the same time, using the au- dio PLL IC LM567, the chip as the oscillator in the circuit, and selective reception, peripheral circuit is simple, low cost, and easy production without debugging, work is not affected by the voltage, temperature, can have long term stability work in various environments. Emission modulation in this design and receiving demodulation use the same chip, modulation transmitting frequen- cy for demodulation frequency, transmitting and receiving always maintain the same frequency. Sending The PLL output signal to the microcontroller, single - chip microcomputer detects obstacle signals and drives the alarm.