基于STM32的寻宝旅游机器人小车设计  

作　　者：程苡凡 刘文飞 白焕鑫 

机构地区：[1]台州学院航空工程学院,浙江台州318000

出　　处：《科技创新与应用》2022年第22期40-43,共4页Technology Innovation and Application

摘　　要：根据2020年浙江省第五届大学生机器人竞赛的要求,设计并制作一款基于STM32F103ZET6的智能寻宝旅游机器人小车,该小车由灰度巡线模块、光电传感器和姿态传感器等进行PID的闭环寻迹与定位,并采用树莓派4B进行对各个景点图像的识别,具有自主运行、自主寻迹避障、图像读取、图像形状识别等功能。其中,主控芯片STM32会根据灰度、光电、姿态等传感器反馈的信息,给电机、舵机等模块下发指令并使其完成相应动作。能够实现在一定时间内,在一定的环境下到达尽可能多的景点,途中需要顺利通过各种门槛、路障等。每到一个景点进行一定的识别,完成寻宝任务。According to the requirements of the fifth robot competition for college students in Zhejiang Province in 2020,an intelligent treasure-hunting tourism robot car based on STM32F103ZET6 is designed and manufactured.The car uses grayscale line patrol module,optoelectronic sensor and attitude sensor to track and locate PID closed-loop,and uses raspberry pie 4B to recognize the images of each scenic spot.It has the functions of autonomous operation,autonomous tracking and obstacle avoidance,image reading,image shape recognition and so on.Among them,the main control chip STM32 will send instructions to the motor,steering gear and other modules and make them complete the corresponding action according to the feedback information of grayscale,optoelectronic,attitude and other sensors.Can achieve in a certain time,in a certain environment to reach as many scenic spots as possible,on the way need to smoothly through a variety of thresholds,roadblocks and so on.Every time you go to a scenic spot,you can identify it and complete the treasure hunt.

关 键 词：智能寻宝旅游机器人小车 STM32 PID算法 自主寻迹 图像识别 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]