自动跟随小车的设计与实现

毕业设计（论文）

中文题目自动跟随小车的设计与实现

学院名称国际学院

学生姓名

专业电子信息工程

班级

学号

指导教师

2019年6 月

摘要

随着传感器、电机、微处理器等技术的不断发展和突破，为使人们的工作和生活更加高效便捷，智能电子产品作为必不可少的关键链条，在日常生活中发挥着越来越重要的作用。本设计正是基于这一理念，成功构建出以超声波收发定位为基础，并通过单片机的作用来实现精准控制的某特定自动跟随小车，该小车将控制处理器设定为STM32型号的单片机，小车采用四轮步进电机进行驱动控制。并借助于超声波发射器的作用，成功发送相应的超声波信号。除此之外，小车中还配备接收器，将可成功接收来源于发射器所发送的超声波信号，并且通过声速、传递时间以及超声波接收器之间的距离，根据三边定位算法可以计算出目标的相对位置并反馈给单片机用于控制各部分电机的转速实现转弯、直行，从而使自动跟随小车能够360度转弯跟随。论文首先大概介绍了当前主要的自动跟随方案，对比分析优缺点，之后详细的介绍本设计所采用的超声波定位跟随方案，并将方案的软硬件设计，包括传感器模块，无线模块，电机模块，电源模块等，并对超声波定位识别算法，小车的控制算法进行了调试改进。最后，介绍小车的测试结果，分析自动跟随小车的整体性能。结果表明，本科题采用的超声波识别定位方案可以高效、准确的得到目标的相对位置并实现近距离跟随。

关键词：自动跟随小车，STM32，超声波发送接收器，三边定位算法，电机控制

Abstract

With the continuous development and breakthrough of technologies such as sensors, motors, microprocessors, etc., in order to make people's work and life more efficient and convenient, intelligent electronic products as an essential key chain play an increasingly important role in daily life. effect. This design is based on this concept, successfully built a specific automatic follow-up car based on the ultrasonic transmission and reception positioning, and through the role of the single-chip microcomputer to achieve precise control, the car will set the control processor to STM32 model of single-chip, car Drive control is performed using a four-wheel stepper motor. And by means of the action of the ultrasonic transmitter, the corresponding ultrasonic signal is successfully transmitted. In addition, the car is equipped with a receiver, which can successfully receive the ultrasonic signal transmitted from the transmitter, and can calculate the target according to the trilateral positioning algorithm by the speed of sound, the transmission time and the distance between the ultrasonic receivers. The relative position is fed back to the single-chip microcomputer to control the rotation speed of each part of the motor to achieve turning and straight running, so that the automatic following car can turn 360 degrees to follow. Firstly, the paper introduces the current main automatic following schemes, compares the advantages and disadvantages of the analysis, and then introduces the ultrasonic positioning following scheme adopted in this design in detail, and designs the software and hardware of the scheme, including sensor module, wireless module, motor module, power supply. Modules, etc., and the ultrasonic positioning recognition algorithm, the control algorithm of the car was debugged and improved. Finally, introduce the test results of the car and analyze the overall performance of the car. The results show that the ultrasonic recognition and positioning scheme adopted by the undergraduate problem can obtain the relative position of the target efficiently and accurately and achieve close range follow-up.

Keywords: Automatically follow the car, STM32, Ultrasonic transmitter and receiver, Trilateration algorithm, Motor control