基于STM32的全地形越障排爆机器人设计
刘孝贤1，余江*,1，郑徐凯1，陈衍艺2，胡俊泽1
（1.广东海洋大学 机械与动力工程学院，广东 湛江 524088；2.广东海洋大学 电子与信息工程学院，广东 湛江 524088）
摘要：为实现全地形越障排爆小车的循迹、越障、识别与排爆功能，设计了一套以STM32单片机为核心的全自动控制系统。其机械结构包括滑轮结构、底盘结构和爆破结构，着重于实现越障与减震；程序设计部分包含有循迹、姿态平稳调整、颜色识别与目标爆破几个部分，其中寻迹部分为基于PID算法所写。本设计为全自动机器人，工作时无需人工介入，可自行沿黑线循迹行走，并越过多重障碍物，同时能在指定区域内完成颜色识别与目标气球扎破的任务。
关键词：STM32单片机；循迹；越障；PID算法
中图分类号：TP242.3 文献标志码：A doi：10.3969/j.issn.1006-0316.2022.09.012
文章编号：1006-0316 (2022) 09-0076-05
Design of All Terrain Obstacle Crossing and Explosive Removal Robot Based on STM32
LIU Xiaoxian1，YU Jiang1，ZHENG Xukai1，CHEN Yanyi2，HU Junze1
( 1.School of Mechanical and Power Engineering, Guangdong Ocean University, Zhanjiang 524088, China; 2.College of Electronic and Information Engineering, Guangdong Ocean University, Zhanjiang 524088, China )
Abstract：In order to realize the functions of tracking, obstacle crossing, identification and explosive removal of all-terrain obstacle crossing explosive removal vehicle, a set of fully automatic control system with STM32 as the core is designed. In this design, the mechanical structure includes pulley structure, chassis structure and blasting structure and focuses on obstacle crossing and shock absorption. The program design includes tracking, stable attitude adjustment, color recognition and target blasting, in which the tracking part is written based on PID algorithm. This design is a fully automatic robot, which can walk along the black line and cross multiple obstacles by itself without manual intervention, and at the same time, it can complete the tasks of color recognition and target balloon puncture in the designated area.
Key words：STM32 single chip microcomputer；tracking；obstacle crossing；PID algorithm
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收稿日期：2022-03-03
作者简介：刘孝贤（2001－），男，广东中山人，主要研究方向为机械电子工程，E-mail：990679311@qq.com。*通讯作者：余江（1972－），男，广东湛江人，高级实验师，主要研究方向为机械设计制造及其自动化，E-mail：gdouyj@163.com。
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