基于STM32单片机的坡道智能巡线小车  

Ramp Intelligent Line Patrol Car Based on STM32 MCU

作　　者：吴永豪 赵世祥 周雨飞 刘少贤 王佳旺 WU Yonghao;ZHAO Shixiang;ZHOU Yufei;LIU Shaoxian;WANG Jiawang(School of Electronic Information and Automation,Tianjin University of Science and Technology,Tianjin 300222,China;School of Mechanical Engineering,Tianjin University of Science and Technology,Tianjin 300222,China)

机构地区：[1]天津科技大学电子信息与自动化学院,天津300222 [2]天津科技大学机械工程学院,天津300222

出　　处：《信息与电脑》2022年第12期124-126,共3页Information & Computer

摘　　要：本文旨在利用STM32单片机设计制作一款适用于各种倾斜坡道的精准循迹的巡线小车。该小车采用前转向桥的机械结构,利用反射式光电传感器采集坡道轨迹方向,陀螺仪实时采集小车状态。本文分析了车体的前桥转动和后轮驱动对坡道巡线的影响,通过陀螺仪来判断坡道的位置,执行上坡加速、下坡减速的操作,使小车于各种角度坡道行驶。The purpose of this paper is to design and build a line patrol trolley with accurate trajectory for various inclined ramps using STM32 microcontroller. The trolley adopts the mechanical structure of front steering bridge, and uses reflective photoelectric sensor to collect the ramp trajectory direction and gyroscope to collect the trolley status in real time. This paper analyzes the influence of the front axle rotation and rear wheel drive on the ramp patrol line, determines the position of the ramp through the gyroscope, performs the operation of accelerating uphill and decelerating downhill, and makes the cart travel on various angled ramps.

关 键 词：STM32 巡线小车 前转向桥 坡道行驶 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]