基于STM32的巡线小车系统设计  

Design of Line-tracking Car System Based on STM32

作　　者：吴凯[1] 刘洁[1] 张晶晶[1] 李军[1] 朱方明[1] WU Kai;LIU Jie;ZHANG Jingjing;LI Jun;ZHU Fangming(School of Information Science and Technology,Hangzhou Normal University,Hangzhou 311121,China)

机构地区：[1]杭州师范大学信息科学与技术学院,浙江杭州311121

出　　处：《现代信息科技》2022年第7期159-162,共4页Modern Information Technology

基　　金：国家级大学生创新创业项目(202010346036)。

摘　　要：设计了一种基于STM32单片机的巡线小车系统,采用七路灰度传感器采集路径灰度值,并采用双H桥电机驱动模块对电机进行驱动,根据七路灰度传感器的数值,通过调整两侧的电机转速差控制小车姿态,从而实现循迹功能。测试结果表明,在贴有白色循线的黑色方格场地中,小车能够准确地实现巡线及前往场景特定位置等功能,并保持较快的运行速度,系统工作稳定性高,对不同环境的适应性强。This paper designs a line-tracking car system based on STM32 Single-Chip Microcomputer,uses seven-road grayscale sensors to collect the path grayscale value,and uses the double H-bridge motor drive module to drive the motor.According to the value of the seven-road gray sensors,the car gesture is controlled by adjusting the motor speed difference on both sides,so as to realize the tracking function.The test results show that in the black square field pasted with white tracking line,the car can accurately realize the functions of tracking line and going to the specific location of the scene and so on.And it maintains the faster running speed.The system has high working stability and strong adaptability to different environments.

关 键 词：巡线小车 STM32 灰度传感器 电机驱动 

分 类 号：TP368[自动化与计算机技术—计算机系统结构]