基于STM32的全地形越障排爆智能小车设计与实现

Design and Implementation of an All-terrain Obstacle Clearing and Explosive Disposal Intelligent Car Based on STM32

为解决易燃易爆、有毒有害等特殊场合排爆检测的困难,开发了一台基于STM32单片机的全地形越障排爆智能小车。该智能小车以STM32单片机为中央处理器,外围电路由OpenMV模块、电机驱动模块、红外线测距模块、无线模块等组成。智能小车工作时,利用通过OpenMV采集危险物品图像,通过预设的程序进行图像识别;同时,超声波模块采集周围环境的参数,把它们转化为电信号传输给STM32单片机处理;STM32单片机综合图像识别信息、传感器传送信息,通过预设的程序进行处理;最后发送指令控制智能小车的运作。现场测试结果表明,该智能小车能实现危险物品识别、智能避障、全地形越障等功能,达到了预期的效果。

To address the difficulties in explosive ordnance disposal and detection in special environments involving flammable,explosive,toxic,and hazardous materials,an STM32-based all-terrain obstacle-crossing intelligent robot car has been designed.This intelligent robot car utilizes an STM32 microcontroller as the central processing unit,and its peripheral circuits are composed of an OpenMV module,motor driver module,infrared ranging module,wireless module,and other components.During operation,the intelligent robot car captures images of hazardous items using the OpenMV camera and performs image recognition through preset programs.At the same time,the ultrasonic module collects parameters from the surrounding environment,converts them into electrical signals,and transmits them to the STM32 microcontroller for processing.The STM32 microcontroller integrates the image recognition information and sensor data,processes them through preset programs,and ultimately issues commands to control the operation of the intelligent robot car.Field test results indicate that this intelligent robot car is capable of functions such as hazardous item identification,intelligent obstacle avoidance,and all-terrain obstacle crossing,achieving the desired effect.