智能物料小车的设计与实现

摘要随着科技水平技术的发展，社会的经济的提高，越来越多工业业务需求不断涌现了出来。与此同时，伴随各行各业生产水平的提高，各个国家都在积极的投入智能物料配送小车的研究，通过先进的信息技术、电子技术、电子通讯技术等推动智能物料配送小车技术的进步，尽可能实现的目标是逐步实现机械化、智能化、高度自动化。智能物料小车采用基于STM32系列的芯片作为主控。该系列芯片结合了多个寄存器，具有丰富的中断逻辑、时钟配置使能控制等概念，以及多样的硬件外部接口，如复位电路、RS232、TC电路、SD卡接口等，同时STM32系列芯片的固件库有很多实用结构体和指针变量，该系列芯片结构精简，能够实现对电机、传感器以及其他外设的控制。小车的硬件由最小系统、电源电路、电机驱动电路、循迹电路、避障电路和语音播报电路等组成，使用C语言编程，然后结合路线规划进行设计验证。本设计代替工厂设计了一款生产车间专用智能物料和半成品配送小车。本设计采用模块化的思想进行设计，将每一个模块的硬件和软件模块设计好，然后进行车体的组装和系统测试，基本实现预期效果。关键词：循迹，STM32,避障AbstractWith the development of science and technology and the improvement of social economy,more and more industrial business needs continue to emerge.At the same time,with theimprovement of the production level of all walks of life,countries around the world areactively investing in the research of intelligent distribution vehicles,through the application ofadvanced electronic technology,information technology,electronic communicationtechnology,etc.to promote the progress of intelligent distribution vehicle technology,as faras possible to achieve the goal of gradually realizing mechanization,intelligence,and highautomationThe intelligent material trolley adopts a chip based on the STM32 series as the main control.This series of chips combines multiple registers,with rich interrupt logic,clock configurationenable control and other concepts,as well as a variety of hardware external interfaces,such asreset circuit,RS232,RTC circuit,SD card interface,etc.,while the firmware library ofSTM32 series chips has many practical structures and pointer variables,the series of chipshave a streamlined structure,which can realize the control of motors,sensors and otherperipherals.The hardware of the trolley is composed of a minimum system,a power supplycircuit,a motor drive circuit,a tracking circuit,an obstacle avoidance circuit and a voicebroadcast circuit,etc,programmed in C language,and then combined with route planning fordesign verification.This design replaces the factory to design a special intelligent material and semi-finishedproduct distribution trolley for the production workshop.This design adopts the idea ofmodularity,the hardware and software modules of each module are designed,and then theassembly and system testing of the car body are carried out to basically achieve the expectedresults.Key words:Follow the trail,STM32,Obstacle avoidance目录摘要ABSTRACT第1章绪论1.1论文研究背景与意义1.2论文研究内容与方法41.3国内外研究现状.5第2章关键技术介绍.62.1关键性开发技术的介绍2.1.1STM32单片机.62.1.2电机驱动原理.62.1.3PWM原理7第3章系统分析.83.1构架概述83.1.1系统构架.83.1.2模块需求描述093.2系统开发环境..123.3系统技术安全与经济可行性分析123.3.1系统技术可行性..123.3.2系统安全性分析.133.3.3系统经济可行性....13第4章系统设计..144.1硬件电路设计…144.1.1最小系统电路.144.1.2调试电路.154.1.3电源电路.15-1