智能跟随行李箱
Intelligent follow suitcase
设
计
报
告
摘 要
设计并实现了一种基于超声波定位及 STM32F103 系列的微控制器作为主控
芯片控制的有源跟随小车系统,并将其应用到智能跟随行李箱的设计中,作为跟
随模块部分。通过安装在小车顶部的两个超声波传感器,实时感知载物小车与主
人的距离信息,并将信息反馈给单片机用于控制电机的转速与调整平衡小车的姿
态。基于超声波三点定位系统高精度小盲区的设计,使小车能够 360°转弯跟随,
从而更加精确和智能化的跟随目标移动。
关键词:超声波定位;STM32F103;智能跟随;指纹解锁;称重
ABSTRACT
An active following car system based on ultrasonic positioning and
STM32F103 series microcontroller is designed and implemented, which is
controlled by the main control chip. It is applied to the design of
intelligent following suitcase as the following module. Through two
ultrasonic sensors installed on the top of the balance car, the distance
information between the carrier car and the owner is sensed in real time,
and the information is fed back to the single chip computer to control
the speed of the motor and adjust the attitude of the balance car. Based
on the design of high precision small blind area of the three-point
positioning system, the car can follow the target in 360 degree turning,
so that it can follow the target more accurately and intelligently. In
addition, fingerprint unlocking and intelligent weighing are added in the
design of luggage case, which makes the suitcase more intelligent, instead
of just a tool with loading function, and improves its safety and
practicability greatly.
Key words: ultrasonic positioning; STM32F103; intelligent tracking;
fingerprint unlocking; weighing
目录
引 言
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4
第一章:系统原理及硬件介绍
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5
1.1 超声波跟随小车设计
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5
1.1.1 系统总体框图
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5
1.1.2 基于超声波的跟随算法设计
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5
1.1.2 超声波测距原理
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6
1.1.3 跟随部分硬件电路设计
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7
1.1.4 跟随部分软件系统设计
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12
结论
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14
参考文献
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15
引 言
随着科技水平的不断发展和人类需求的不断提高,小车智能化已是一种主流
趋势,然而目前,国内市场上暂时还没有出现具有跟随性的智能载物小车。如今
中国具有跟随性的产品,主要是有轨机械跟随,用于工厂的各类生产机车的一部
分,或是比赛场的有轨跟随拍摄车,并没有实际针对超市、旅馆、飞机场等大众
场合、家庭或个人的产品。因此,我们运用超声波定位的技术,设计了一款能够
对特定移动目标进行实时跟踪的智能小车。可以实现对移动目标的 准确跟踪,
或帮助携带物品,解放人们双手。
第一章:系统原理及硬件介绍
1.1 超声波跟随小车设计
1.1.1 系统总体框图
单片机
控制系统
电机驱动模块
直流电机
超声波模块
1.1.2 基于超声波的跟随算法设计
本设计选用单发单收的超声波模块进行测距,在车上的前方左右两端各安装
一个单收超声波模块,人手持一个单发超声波模块,这样左右两端的超声波与移
动目标的距离三点之间就构成了一个三角形。假设左超声波 A 点距离移动目标 C
点(超声波发射器)的距离为 a,右超声波 B 点距离移动目标 C 点的距离为 b。
当小车与人正对时,距离 a = b;当人左拐时,a < b;同理,当人右拐时,
a > b。当人往前方走时,A 和 B 距离人的距离 a 和 b 必定大于预先设定距离。
综上所述可知人与车的距离,由此来实现小车的自动跟随功能。
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