基于STM32单片机的智能扫地机器人.doc

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基于STM32单片机的智能扫地机器人

河北理工大学信息学院

摘要

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摘要

本文设计并实现了一种基于STM32单片机的智能扫地机器人系统，旨在解决传统扫地设备智能化程度低、清洁效率不高和避障能力不足等问题。系统以STM32F103C8T6为核心控制器，结合超声波测距模块、红外循迹模块、语音识别模块、电机驱动模块等硬件设备，实现了环境感知、自主导航、智能避障、语音控制和远程监控等功能。通过KeilMDK开发环境，系统实现了多传感器数据融合算法和智能路径规划算法，并支持自动/手动/定点等多种清洁模式切换，适应不同场景需求。OLED显示屏和4G通信模块的应用进一步提升了系统的人机交互能力，实现了状态显示、参数设置、故障报警和数据上传等功能。经过硬件调试和软件测试，系统各模块的功能得到了充分验证，实际运行测试展示了系统的稳定性和高效性。结果表明，该系统能够显著提升扫地机器人的清洁效率和智能化水平，降低人工干预需求，为智能家居清洁提供了创新解决方案。

关键词：智能扫地机器人系统；单片机；超声波检测；红外检测；

Abstract

Abstract

Abstract

ThisarticledesignsandimplementsanintelligentsweepingrobotsystembasedonSTM32microcontroller,aimingtosolvetheproblemsoflowintelligence,lowcleaningefficiency,andinsufficientobstacleavoidanceabilityoftraditionalsweepingequipment.ThesystemusesSTM32F103C8T6asthecorecontroller,combinedwithhardwaredevicessuchasultrasonicrangingmodule,infraredtrackingmodule,speechrecognitionmodule,motordrivemodule,etc.,toachievefunctionssuchasenvironmentalperception,autonomousnavigation,intelligentobstacleavoidance,voicecontrol,andremotemonitoring.ThroughtheKeilMDKdevelopmentenvironment,thesystemhasimplementedmulti-sensordatafusionalgorithmsandintelligentpathplanningalgorithms,andsupportsmultiplecleaningmodeswitchessuchasautomatic/manual/fixed-point,adaptingtodifferentscenerequirements.TheapplicationofOLEDdisplayscreensand4Gcommunicationmodulesfurtherenhancesthesystemshuman-computerinteractioncapabilities,achievingfunctionssuchasstatusdisplay,parametersettings,faultalarms,anddatauploading.Afterhardwaredebuggingandsoftwaretesting,thefunctionsofeachmoduleinthesystemhavebeenfullyvalidated,andactualoperationaltestinghasdemonstratedthestabilityandefficiencyofthesystem.Theresultsindicatethatthesystemcansignificantlyimprovethecleaningefficiencyandintelligencelevelofroboticvacuumcleaners,reducetheneedformanualinter