基于STM32微控制器的扫地机器人控制系统硬件架构设计

Hardware architecture design and control system of sweeping robot based on STM32 microcontroller

针对工厂室内复杂情况下的清扫需求,设计了机器人控制系统硬件架构,采用激光雷达及双目摄像头定位与融合控制算法相结合规划机器人行走路径,提出了以STM32F407单片机为控制核心、多传感器融合的扫地机器人控制系统,能够实现机器人按照划路径进行作业,并对障碍物进行自主检测及自主避障,研究了扫地机器人工厂室内环境下的自主行走等问题。在自主作业的基础上,增加了软件抗干扰控制技术,解决机器人无法进行判断的情况,提高了系统运作的稳定性以及安全性,实现复杂环境的巡回作业。

In this paper,according to the needs of cleaning under complex situation in the factory,the hardware architecture of robot control system was designed.The walking path of the robot was planned by the combination of radar and binocular camera positioning with fusion control algorithm,this paper put forward a new control system based on the control core of STM32F407 and multi sensor fusion sweeping robot.The robot was able to follow the path for its work and automatically detect and avoid obstacles.It also studied autonomous walking in indoor environment of factory for floor sweeping robot etc.On the basis of autonomous operation,software anti-interference control technology was added to solve the problem that the robot couldn't judge.It improved the stability and security of the system and realized the tour work under complex environment.