基于STM32的负压爬壁机器人控制系统设计

Design of Control System of Negative Pressure Wall Climbing Robot Based on STM32

针对负压爬壁机器人(NPWCR)在高楼危险环境下进行侦察监控的灵活性、易控性和壁面适应性要求,设计一种基于STM32负压爬壁机器人的控制系统。该控制系统以STM32F103RCT6微控制器作为核心处理器,采用模块化进行功能设计,包括主控模块、电源模块、电机驱动模块、无线通信模块、风机驱动模块、摄像头模块等。各模块共同作用,实现机器人的连续运动、无线通信、视频实时监控等功能。该控制系统可以控制负压爬壁机器人在壁面灵活移动,操作负压爬壁机器人携带侦察监控设备进行实时监控,为开发多功能负压爬壁机器人的控制系统提供参考。

Aiming at the requirements of flexibility,controllability and wall adaptability for reconnaissance and monitoring of negative pressure wall-climbing robots(NPWCR)in dangerous environments of high-rise buildings,a control system based on STM32 for NPWCR was designed.In this control system,STM32F103RCT6 microcontroller was used as the core processor.The functional design was modular,including the main control module,power supply module,motor drive module,wireless communication module,fan drive module,camera module.The various modules worked together to realize the continuous movement,wireless communication and real-time video monitoring of the robot.By using the control system,the NPWCR can move flexibly on the wall and carry the reconnaissance and monitoring equipment for real-time monitoring.The research results can provide reference for developing control system for the multi-functional NPWCR.