The Application Of PIC SCM In Avoiding Barrier Robotics Control System Of Mine

With the development of science and technology, Robot is being used in many facets.It is very important that Robotics technology and automatization technology in many developed countries.China is a developing countary,so we must master the theory and technology.Some robotics experts think that mine robot should be the emphases in our country. These days the first mine rescuing robot has been made by robotics graduate school of China university of mining &technology. Based on the background, the author consulted many data about mine rescuing robot and did some work.The paper is divided into four sections: the control part of moving dolly; the circuit of ultrasonic emitting and receiving; displaying circuit of distance and avoiding barrier of moving dolly.In the control part of moving dolly, the author introduces the selecting of motor of dolly and control theory of motor by PIC SCM.Introduced the ultrasonic center frequency, emitting and receiving in the circuit of ultrasonic.The ultrasonic can be produced by programming the PIC SCM. Three parts are constituted of the receiving circuit, they are ultrasonic receiving circuit, magnifying circuit and filtering circuit. Introduce the components of displaying circuit in distance circuit, countering frenquency and parts (counter, encoder and display)of the circuit. At last, author introduces the circuit of temperature compensating and some methods of path grogramming in robot using and simulation result based on VB.The paper analyse the error of the system. The system error includes two aspects, one is hardware, which include the error of ultrasonic emitter, counter, encoder and so on; the other is software error,which include the programme.There are two results in this thesis,one is modeling and simulating the step motor based on MATLAB/SIMULINK, the other is constructing a communication platform based on VB and test the validity.