基于STM32控制的智能送药小车的设计

基于STM32控制的智能送药小车的设计目录1.绪论.11.1.世界机器人发展史11.2.国内机器人技术发展状况21.3.设计相关技术背景…。21.4.机器人机构…31.5.本设计研究的意义32.智能送药小车硬件方案设计.…32.1.数字识别….42.1.1.摄像头处理器选择方案.….42.2.循迹.42.2.1.寻迹数据处理选择方案.42.3.药物检测模块52.4.车控制模块.….52.4.1.小车控制模块的选择52.5.电机….52.5.1.电机选择方案.…53.智能送药小车寻迹程序设计.63.1.0penm介绍.63.2.程序设计思路….63.2.1.寻迹程序设计…63.2.2.颜色阙值，分辨率以及初始化测试..63.2.3.建立特殊识别区及其情况…73.2.4.特殊识别区判断84.智能送药小车数字识别程序设计…84.1.设置串口通讯.84.2.使用find template函数.94.3.识别数字…104.3.1.传出参数变量….104.3.2.信号灯的使用….104.4.数字识别….114.4.1.进行数字比对….114.4.2.识别数字坐标….115.智能送药小车整体设计…。.145.1.系统方案架构图…145.2.小车工作流程图….155.3.stm32单片机控制方案..165.4.小车电路设计及其仿真图176.结论…17参考文献…17致谢.…18基于STM32控制的智能送药小车的设计基于STM32控制的智能送药小车的设计物联网工程专业学生：张华创指导教师：**摘要：根据智能小车寻迹原理，系统通过视觉检测技术获取图像信息，采用其检测系统内置处理器相应的图像处理算法来处理图像，再通过串口通信传给STM32系统控制器进行控制算法处理。选择合适的直流电机作为系统动力装置，选取了功能强大且容易开发的微处理器、传感器和相关电子元器件，通过电机编码器反馈的信息设计小车的速度闭环控制系统，实现运输距离的精准控制，并做了大量的系统软硬件调试工作，最终完成了整体设计。关键词：单片机STM32:视觉检测：图像识别Design of intelligent drug delivery car based onSTM32 controlInternet of Things and technology Candidate:ZhangHuaJianAdvisor:****.Abstract:According to the tracking principle of intelligent car,the system obtains imageinformation through visual detection technology and uses its detection method.The built-inprocessor of the test system processes the image according to the corresponding imageprocessing algorithm,and then transmits it to the STM32 system controller through serial portcommunication for control algorithm processing.Select the appropriate DC motor as thesystem power device,select the powerful and easy to develop microprocessor,sensors andrelated electronic components,design the speed closed-loop control system of the trolleythrough the information fed back by the motor encoder,realize the accurate control of thetransportation distance,and do a lot of system software and hardware debugging work,andfinally complete the overall design.ue.Keywords:Single chip microcomputer STM32,Visual inspection,image recognit