基于STM32的小车跟随行驶系统设计

Design of STM32-based Trolley Following Driving System

跟随行驶系统是一种连续性跟踪并检测运动目标轨迹参数的系统。小车的跟随行驶系统可以提供跟随目标的空间定位运动轨迹,不需要过多的人为控制,实现了自动化、智能化。该系统由跟随小车和循迹小车两部分组成,主要包括红外传感模块、超声波距离检测模块、电机驱动模块、电源模块。采用STM32F103单片机作为小车主要控制芯片,通过PWM技术对运动速度以及舵机的方向进行控制。超声波测距模块用于感应跟随物体的位置,控制跟随小车与物体之间的距离,使小车可以在检测到物体停下时停止运动,防止发生碰撞。

The following driving system is a system that continuously tracks and detects the trajectory parameters of moving targets.The following driving system of the trolley can provide spatial positioning motion trajectory of the followed target,no need for excessive human control and achieving automation and intelligence.The system consists of two parts:a following trolley and a tracking car,mainly including an infrared sensing module,an ultrasonic distance detection module,a motor drive module,and a power module.The STM32F103 Single-Chip Microcomputer is used as the main control chip for the trolley,and PWM technology is used to control the motion speed and direction of the servo.The ultrasonic ranging module is used to sense the position of the followed object,control the distance between the following trolley and the object,so that the car can stop moving when an object is detected to stop,and prevent collisions.