基于MM32和ESP32的智能巡线清洁小车的设计  

Design of Intelligent Line Patrol Cleaning Car Based on MM32 and ESP32

作　　者：刘新宇 张王怡 宋子欣 冯梓菲 康宸恺 钱茹[1] Liu Xinyu

机构地区：[1]东南大学成贤学院,江苏南京210088

出　　处：《工业控制计算机》2023年第11期160-162,165,共4页Industrial Control Computer

摘　　要：研究目标是设计出一款自主识别赛道、扫拖一体的智能联网清洁小车。项目的主要内容包括小车智能控制系统与图像识别系统,该系统以MM32F3277G9P核心板作为控制核心,采用二值化摄像头进行路径信息采集,并用PID算法和记忆算法实现路径最优,利用小车前后端安装扫把和拖把用于赛道地面的清洁消毒。该项目使用ESP32-S3 CAM进行无线通讯,小车基于百度智能云对物品进行识别,反馈扫入物品图像于网页。在任务结束后,小车可自行返回充电处无线充电。最终使小车实现自动循迹和图像识别反馈功能,完成清洁任务。The research goal of this article is to design an intelligent networked cleaning car that can independently identify the race track and integrate sweeping and towing.The main content of the project includes a car intelligent control system and an image recognition system.The system uses the MM32F3277G9P core board as the control core,uses a binary camera to collect path information,and uses PID algorithm and memory algorithm to achieve path optimization.The front and rear ends of the car are installed with brooms and mops for cleaning and disinfection of the track floor.The project uses ESP32-S3 CAM for wireless communication.The car identifies items based on Baidu AI Cloud,and feeds back the scanned item image to the web page.After the task is completed,the car can return to the charging station for wireless charging.Finally,the car will achieve automatic tracking and image recognition feedback functions to complete the cleaning task.

关 键 词：智能小车 MM32 ESP32 物联网 百度智能云 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]