基于STM32小型智能搬运起重机的优化设计

Optimal design of small intelligent handling crane based on STM32

为了提高起重机在进行搬运任务时的工作质量与效率,文中设计了基于STM32的小型智能搬运起重机,通过使用Openmv视觉识别模块稳定识别颜色与形状,实现智能分拣、起重、搬运。在起重机运动速度控制上,采用经典的PID算法,利用编码器反馈速度与电动机角度,实现起重机速度闭环调节需求。采用麦克纳姆轮作为行走单元,适应复杂运动要求。经过调试,小型智能搬运式起重机能按既定规则完成搬运任务。

In order to improve the working quality and efficiency of cranes in handling,a design of small intelligent handling cranes based on STM32 is proposed in this paper.The intelligent sorting,lifting and handling can be realized by using Openmv visual recognition module to identify color and shape.The classical PID algorithm is used to control the crane speed,and the encoder feeds back the speed and motor angle to realize the closed-loop adjustment of the crane speed.McNamun wheel is used as the walking unit to meet the requirements of complex movement.After debugging,the small intelligent handling crane can complete the handling task according to the established rules.