基于嵌入式系统的搬运机器人设计与路径规划研究

Transfer Robot Hardware Design and Path Planning Based on the STM32

摘要:

为了解决目前工业搬运机器人发展的需求问题，设计了一款基于嵌入式系统的搬运机器人。该型搬运机器人的循线采用的是一种七路灰度传感器，并通过设计的一种蓝牙模块将灰度信息发送到手机端，从而简化了循线时的调试，具有创新性。搬运机器人前端安装有颜色传感器用以区分不同种类的物料。电机控制部分设计了一个PID闭环控制系统，通过PWM脉冲宽度调节来控制电机的转速。然后，针对模拟场地提出了一种路径规划算法，并通过设计的搬运机器人进行了实验测试与分析，验证了该方法的准确性和有效性。

Abstract:

Based on the needs of the development of the industrial transfer robot, designed a kind of robot based on STM32 chip, This kind of robot used a seven road gray sensor to follow line, and through a Bluetooth module designed sending gray information to mobile terminal, in order to simplify the debugging of following line. Transfer robot is equipped with color sensor to distinguish different materials. Designed a PID closed-loop control system in motor control part, through the pluse width adjustment to control the motor speed. Finally, put forward a kind of efficient path planning algorithm in simulation field, and carried on experiment test and comparison by transfer robot.