一种探险旅游机器人的设计  

Design of an Adventure Travel Robot

作　　者：刘小军[1] 温宏愿 周香珍[1] 何伟基[3] 田旭 LIU Xiaojun;WEN Hongyuan;ZHOU Xiangzhen;HE Weiji;TIAN Xu(School of Electrical&Electronic Engineering,Taizhou Institute of Sci&Tech,NJUST,Taizhou Jiangsu 225300,China;School of Intelligent Manufacturing,Taizhou Institute of Sci&Tech,NJUST,Taizhou Jiangsu 225300,China;School of Electronic Engineering and Optoelectronic Technology,Nanjing University of Science and Technology,Nanjing Jiangsu 210094,China)

机构地区：[1]南京理工大学泰州科技学院电子电气工程学院,江苏泰州225300 [2]南京理工大学泰州科技学院智能制造学院,江苏泰州225300 [3]南京理工大学电子工程与光电技术学院,江苏南京210094

出　　处：《电子器件》2025年第1期74-79,共6页Chinese Journal of Electron Devices

基　　金：国家自然科学基金面上项目(61875088);江苏省第六期“333高层次人才培养工程”项目(苏人才办[2022]2号);江苏省高校“青蓝工程”人才项目(苏教师函[2020]10号)。

摘　　要：针对中国机器人大赛探险旅游机器人竞赛项目的比赛规则,设计研发了一种新型探险旅游机器人系统。该系统包括控制系统、机械结构和输出设备三大部分。控制系统由STM32控制器、传感器模块、执行模块、电源模块等组成,采用增量式PID控制算法,以差速转向控制原理实现机器人的自主巡线行驶,并具有颜色识别、主动避障等功能;机械结构使用三维建模软件Solidworks设计底盘、支架、链接件等,采用铝板和3D打印技术实现成品制作;输出设备由OLED液晶屏、语音模块等组成,具有信息显示、数据调参、故障报警等功能。实验结果表明:机器人自主巡线快速稳定,过各类障碍物时具备良好的灵活性和鲁棒性,在2021年中国机器人大赛中取得二等奖的好成绩。According to the competition rules of China Robot Competition,a new type of adventure tourism robot system is designed and devel-oped.The system includes control system,mechanical structure and output equipment.The control system is composed of STM32 controller,sensor module,execution module,power supply module,etc.It adopts incremental PID control algorithm,realizes the robot's autonomous line-travel driving based on the differential steering control principle,and has functions such as color recognition and active obstacle avoidance.For the mechanical structure,the 3D modeling software of Solidworks is used to design the chassis,brackets,links,etc.,and aluminum plate and 3D printing technology are used to realize the finished product production.The output device is composed of an OLED LCD screen,a voice mod-ule,etc.,with functions such as information display,data parameter adjustment,and fault alarm.The experimental results show that the robot's autonomous line patrol is fast and stable,has good flexibility and robustness when passing various obstacles,and won the second prize in the 2021 China Robot Competition.

关 键 词：探险旅游机器人 STM32控制器 增量式PID 自主巡线 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]