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。
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.
作者
刘孝贤
余江
郑徐凯
陈衍艺
胡俊泽
LIU Xiaoxian;YU Jiang;ZHENG Xukai;CHEN Yanyi;HU Junze(School of Mechanical and Power Engineering,Guangdong Ocean University,Zhanjiang 524088,China;College of Electronic and Information Engineering,Guangdong Ocean University,Zhanjiang 524088,China)
出处
《机械》
2022年第9期76-80,共5页
Machinery
关键词
STM32单片机
循迹
越障
PID算法
STM32 single chip microcomputer
tracking
obstacle crossing
PID algorithm
