设计说明书
总字数：13000+
摘要
随着智能家居行业的蓬勃发展，智能清洁设备的自动化与智能化成为提升生活便捷性的重要方向。传统扫地工具不仅依赖人工操作、清洁效率低下，还存在清洁模式单一、避障能力不足等问题，难以满足现代家庭多样化的清洁需求。
基于 STM32F103C8T6 单片机的智能扫地机器人，整合了语音识别模块、HC-R04 超声波传感器、YS 湿度传感器、3 个独立按键、OLED 显示屏、两个驱动电机（分别用于干拖 / 湿拖、扫地）及水泵等执行设备，实现了地面清洁的自动化操作与智能控制。系统核心功能包括：通过语音识别模块接收指令，控制干拖、湿拖、扫地三种清洁模式的切换（干拖和湿拖由同一电机驱动，扫地由另一电机驱动）；借助 HC-R04 超声波传感器监测与障碍物的距离，当距离小于设定最小值时，自动控制机器人停止运行，避免碰撞；利用 YS 湿度传感器检测地面湿度，在湿拖模式下，当湿度小于最小值时启动水泵进行加湿，当湿度大于最大值时关闭水泵；支持通过 3 个独立按键分别进行阈值设置、清洁模式切换和机器人启动操作；通过 OLED 显示屏实时显示障碍物距离、地面湿度及当前清洁模式。
该系统的实现，有效提升了地面清洁的自动化程度与智能化水平，减少了人工操作，满足了不同场景下的清洁需求，为家庭清洁提供了高效、便捷的解决方案，同时为同类智能清洁设备的研发提供了参考，具有较高的实际应用价值。
关键词：STM32F103C8T6；智能扫地机器人；清洁模式；传感器；自动避障；语音控制
ABSTRACT
With the vigorous development of the smart home industry, the automation and intelligence of intelligent cleaning equipment have become an important direction to improve the convenience of life. Traditional cleaning tools not only rely on manual operation with low cleaning efficiency but also have problems such as a single cleaning mode and insufficient obstacle avoidance capability, making them difficult to meet the diverse cleaning needs of modern families.
The intelligent sweeping robot based on the STM32F103C8T6 microcontroller integrates a voice recognition module, HC-R04 ultrasonic sensor, YS humidity sensor, 3 independent buttons, OLED display, two drive motors (respectively for dry mopping/wet mopping and sweeping), and a water pump and other executive devices, realizing automatic operation and intelligent control of floor cleaning. The core functions of the system include: receiving instructions through the voice recognition module to control the switching of three cleaning modes: dry mopping, wet mopping, and sweeping (dry mopping and wet mopping are driven by the same motor, and sweeping is driven by another motor); using the HC-R04 ultrasonic sensor to monitor the distance from obstacles, and when the distance is less than the set minimum value, automatically controlling the robot to stop running to avoid collision; utilizing the YS humidity sensor to detect the ground humidity, and in the wet mopping mode, starting the water pump for humidification when the humidity is less than the minimum value, and turning off the water pump when the humidity is greater than the maximum value; supporting threshold setting, cleaning mode switching, and robot startup operations through 3 independent buttons respectively; real-time display of obstacle distance, ground humidity, and current cleaning mode through the OLED display.
The implementation of this system effectively improves the automation and intelligence level of floor cleaning, reduces manual operations, meets cleaning needs in different scenarios, provides an efficient and convenient solution for home cleaning, and also offers a reference for the research and development of similar intelligent cleaning equipment, with high practical application value.
Keywords: STM32F103C8T6; Intelligent sweeping robot; Cleaning mode; Sensor; Automatic obstacle avoidance; Voice control
目录
第 1 章 绪论
1.1 研究的目的及意义
1.2 国内外发展情况
1.3 本文主要研究内容
第2章 设计思路与方案论证
2.1 主要元器件选择
2.1.1 主控芯片选择
2.1.2 超声波传感器选择
2.1.3 湿度传感器选择
2.1.4 按键模块选择
2.1.5 显示模块选择
2.2整体设计方案
第 3 章 硬件设计
3.1 主控电路模块
3.2 超声波传感器电路
3.3 湿度传感器电路
3.4 显示模块电路
3.5按键模块电路
3.6 继电器驱动电路
第4章 系统程序设计
4.1 编程软件介绍
4.2 系统主流程设计
4.3 独立按键
4.4 OLED显示流程设计
4.5 超声波检测模块子流程设计
4.6 语言识别模块子流程设计
第 5 章 实物测试
5.1 整体实物测试
5.2 语音识别模块功能测试
5.3 超声波传感器功能测试
5.4 湿度传感器与水泵功能测试
5.5 按键与显示功能测试
第 6 章 总结与展望
6.1 总结
6.2 展望
致谢
参考文献
附录
附录一：原理图
附录二：PCB
附录三：主程序
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