基于树莓派控制的全地形小车研制
王伟柯，陈帅兴，钟协城，黄梓鑫，李德荣*
（1.广东海洋大学 机械工程学院，广东 湛江 524088；2.广东海洋大学 海洋工程与能源学院，广东 湛江 524088）
摘要：本文研制的全地形小车结合了四轮越障车越障能力强劲的特点，以铝件作为结构框架，并以树莓派4b板为核心微控制器，触须传感器和灰度传感器为辅助控制系统，直流减速电机为整体驱动系统，还采用卡尔曼滤波算法和增量PID控制算法控制小车整体的稳定运行，精确地控制小车的行进线路和行进姿态。该全地形小车能够适应多种场地，并在启动后能够自主实现沿着黑色引导线行走、攀爬窄桥、跨越两段式阶梯、过隧道、识别指定颜色的气球并爆破，最后在终点线处停下。该车全程行驶过程中，均无人干预和操控。
关键词：全地形小车；树莓派；灰度传感器；触须传感器
中图分类号：TH-39 文献标志码：A doi：10.3969/j.issn.1006-0316.2023.08.009
文章编号：1006-0316 (2023) 08-0063-07
Design and Development of All-Terrain Vehicle Based on Raspberry Pi Control
WANG Weike，CHEN Shuaixing，ZHONG Xiecheng，HUANG Zixin，LI Derong
( 1.School of Mechanical Engineering, Guangdong Ocean University, Zhanjiang 524088, China; 2.College of Ocean Engineering and Energy, Guangdong Ocean University, Zhanjiang 524088, China )
Abstract：The all-terrain car developed in this paper features the strong crossing ability of four-wheel obstacle crossing vehicles, with aluminum parts as the structural framework and the raspberry pie 4b board as the core microcontroller. Tentacles sensor and grayscale sensor is used as the auxiliary control system, and DC deceleration motor is used as the overall drive system. Kalman filter algorithm and incremental PID control algorithm is used to control the overall stability of the car, which accurately controls the travel line and movement attitude of the vehicle. The all-terrain vehicle can adapt to a variety of venues. After the start, it can independently walk along the black guide line trail, climb narrow bridge, cross two section ladder, go through tunnel, identify balloons of specified color and explode them, and finally stopp at the finish line. During the whole driving process of the vehicle, there is no intervention and control from anyone.
Key words：all-terrain vehicle；raspberry pi；grayscale sensor；tentacles sensor
———————————————
收稿日期：2022-12-06
作者简介：王伟柯（2002－），男，广东汕尾人，主要研究方向为机械动力工程，E-mail：2402609097@qq.com。*通讯作者：李德荣（1968－），男，湖北松滋人，硕士，高级实验师，主要研究方向为数字化设计与制造技术、机电自动化装备设计与制造，E-mail：lidr2008@163.com。
（1.广东海洋大学 机械工程学院，广东 湛江 524088；2.广东海洋大学 海洋工程与能源学院，广东 湛江 524088）
摘要：本文研制的全地形小车结合了四轮越障车越障能力强劲的特点，以铝件作为结构框架，并以树莓派4b板为核心微控制器，触须传感器和灰度传感器为辅助控制系统，直流减速电机为整体驱动系统，还采用卡尔曼滤波算法和增量PID控制算法控制小车整体的稳定运行，精确地控制小车的行进线路和行进姿态。该全地形小车能够适应多种场地，并在启动后能够自主实现沿着黑色引导线行走、攀爬窄桥、跨越两段式阶梯、过隧道、识别指定颜色的气球并爆破，最后在终点线处停下。该车全程行驶过程中，均无人干预和操控。
关键词：全地形小车；树莓派；灰度传感器；触须传感器
中图分类号：TH-39 文献标志码：A doi：10.3969/j.issn.1006-0316.2023.08.009
文章编号：1006-0316 (2023) 08-0063-07
Design and Development of All-Terrain Vehicle Based on Raspberry Pi Control
WANG Weike，CHEN Shuaixing，ZHONG Xiecheng，HUANG Zixin，LI Derong
( 1.School of Mechanical Engineering, Guangdong Ocean University, Zhanjiang 524088, China; 2.College of Ocean Engineering and Energy, Guangdong Ocean University, Zhanjiang 524088, China )
Abstract：The all-terrain car developed in this paper features the strong crossing ability of four-wheel obstacle crossing vehicles, with aluminum parts as the structural framework and the raspberry pie 4b board as the core microcontroller. Tentacles sensor and grayscale sensor is used as the auxiliary control system, and DC deceleration motor is used as the overall drive system. Kalman filter algorithm and incremental PID control algorithm is used to control the overall stability of the car, which accurately controls the travel line and movement attitude of the vehicle. The all-terrain vehicle can adapt to a variety of venues. After the start, it can independently walk along the black guide line trail, climb narrow bridge, cross two section ladder, go through tunnel, identify balloons of specified color and explode them, and finally stopp at the finish line. During the whole driving process of the vehicle, there is no intervention and control from anyone.
Key words：all-terrain vehicle；raspberry pi；grayscale sensor；tentacles sensor
———————————————
收稿日期：2022-12-06
作者简介：王伟柯（2002－），男，广东汕尾人，主要研究方向为机械动力工程，E-mail：2402609097@qq.com。*通讯作者：李德荣（1968－），男，湖北松滋人，硕士，高级实验师，主要研究方向为数字化设计与制造技术、机电自动化装备设计与制造，E-mail：lidr2008@163.com。
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