基于STM32设计的自动避障分拣垃圾小车系统  

Automatic Obstacle-avoiding and Sorting Garbage System Based on STM32

作　　者：张铭昊 张晓闻 卢雨杰 王奔 孟世科 曹梓璐 Zhang Minghao;Zhang Xiaowen;Lu Yujie;Wang Ben;Meng Shike;Cao Zilu(Department of Electronic Engineering,Taiyuan Institute of Technology,Taiyuan Shanxi 030008,China;Department of Automation,Taiyuan Institute of Technology,Taiyuan Shanxi 030008,China)

机构地区：[1]太原工业学院电子工程系,山西太原030008 [2]太原工业学院自动化系,山西太原030008

出　　处：《山西电子技术》2025年第1期31-34,共4页Shanxi Electronic Technology

基　　金：山西省高等学校科技创新项目(2023L358)。

摘　　要：针对商场、车站等公共区域卫生清扫效率低、消耗大量劳动力、难以保持等问题,基于STM32开发板设计了一款可以智能避障的自动拣垃圾小车。该模型小车可实现红外传感器配合超声波测距实现自动避障、摄像头配合机械臂对垃圾进行分类识别和精准抓取。通过实验,本文设计的小车可以用于解决公共环境卫生清洁的现实问题,减轻环卫工人任务量,可批量生产。In order to solve the problems of low sanitation and cleaning efficiency,consumption of a large amount of labor,and difficulty in maintaining public areas such as shopping malls and stations,this paper designs an automatic garbage sorting truck that can intelligently avoid obstacles based on the STM32 development board.The model trolley can realize automatic obstacle avoidance with infrared sensor and ultrasonic ranging,and the camera can cooperate with the robotic arm to classify and identify garbage and accurately grasp it.Through experiments,the trolley designed in this paper can be used to solve the practical problems of public sanitation and cleaning,reduce the task of sanitation workers,and can be mass-produced.

关 键 词：红外传感 超声波测距 自动避障 分类识别 PID控制抓取 April Tag位姿校正 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]