摘要
为了实现远距离的物体搬运,研制了一种移动式智能搬运机器人。在完成机器人本体设计的基础上,提出了以STM32F103C8T6为主控制单元的搬运机器人总体设计方案,分析了移动式智能搬运机器人工作流程,设计了主控制器电路和电机驱动、循迹定位、物体识别、舵机控制、避障控制等外围电路,给出了移动式智能搬运机器人的主程序流程图,在STM32集成开发环境Keil 4下编写了相应的控制程序,并进行软件调试。经试验测试,本文设计的移动式智能搬运机器人满足设计要求。
In order to achieve distant object handling, a mobile intelligent transport robot is developed. On the basis of completing the design of the robot body, the overall design scheme of the moving robot with STM32F103CST6 as the main controller is presented. The working flow of mobile intelligent transport robot is analyzed. The main controller circuit, motor drive, tracking location, object identification, steering control, obstacle avoidance control and other peripheral circuits are designed. The main program flow chart of mobile intelligent transport robot is presented. The corresponding control program is written under Keil 4 of STM32 integrated development environment, and the soft- ware is debugged. Through the test, the mobile intelligent transport robot designed in this paper meets the design requirements.
作者
钟鹏程
Zhong Pengcheng(Sun Yueqi Honors College,China University of Mining and Technology,Xuzhou 221116)
基金
国家级大学生创新训练计划资助项目(201710290087)
中国矿业大学省级大学生创新创业训练计划(2018SJ155)
中国矿业大学大学生创新创业基金立项大学生创新项目(DC201747)
