总字数：10480
摘 要
随着时代的发展，当代年轻人生活工作压力大，无法顾及家里繁杂琐碎的家务，为了解决繁杂的家务问题，研发和设计了一款扫地机器人，用于地面的清扫，以减少生活负担和生活成本，提高生活质量。本次设计采用STM32单片机作为此次设计的主控芯片，配合红外传感器、超声波模块等实现对扫地机器人周围的环境进行检测，然后扫地机器人根据检测的信息确定其运行的轨迹，通过单片机输出不同的PWM脉冲控制扫地机器人工作；经过实物的测试，此次设计扫地机器人运行可以按照预定的轨迹进行行走，自动检测并避开阻挡智能机器人前进的障碍物，该设计符合智能扫地机器人的基本功能需求，能够完成地面的清扫工作。
关键词：STM32单片机；扫地机器人；PWM脉冲，清扫；避障
Design of sweeping robot system based on single chip microcomputer
Abstract
With the development of The Times, the contemporary young people live and work under great pressure, unable to take into account the complex and trivial housework at home, in order to solve the complex housework problems, the development and design of a sweeping robot, for the ground cleaning, in order to reduce the burden of living and living costs, improve the quality of life. This design uses STM32 single chip microcomputer as the main control chip of this design, with infrared sensor, ultrasonic module to realize the environment around the sweeping robot to detect, and then the sweeping robot according to the detection information to determine its running track, through the single chip microcomputer output different PWM pulse control robot work; After the physical test, the design of the sweeping robot running can walk in accordance with the predetermined track, automatic detection and avoid obstacles blocking the intelligent robot, the design conforms to the basic functional needs of the intelligent sweeping robot, can complete the ground cleaning work.
Key Words： STM32 MCU; Sweeping robot; PWM pulse, cleaning; Obstacle avoidance
目 录
摘 要 II
Abstract III
第1章 绪论 2
第2章 系统设计方案 5
第3章 硬件设计 7
第4章 系统程序设计 10
第5章 实物测试 13
总结与展望 16
参考文献 17
致 谢 19