设计说明书
总字数：18000+
摘要
随着智能家居理念的普及和人们对居家清洁便捷性需求的提升，高效、智能的扫地设备成为改善居家生活体验的重要工具。传统手动清扫方式不仅耗时费力，还难以对角落等特殊区域进行彻底清洁，且人工操作的随机性易导致清洁效率低下。因此，研发一种具备自动避障、定向清扫及远程控制功能的智能扫地机器人，对提升居家清洁质量与效率具有重要意义。
本设计提出一种基于 STM32F103C8T6 单片机的智能扫地机器人。系统核心功能包括：通过 SG90 舵机驱动 HC-R04 超声波传感器实时探测周围环境，实现自动避障，有效防止机器人与家居物品发生碰撞；搭载两个 TCRT5000 红外寻迹模块，可识别墙角预设的黑白线轨迹，精准完成角落区域的定向清扫；设备开机后自动启动清扫模式，通过继电器控制清扫执行机构运行，无需人工干预；集成 ECB02 蓝牙模块，支持手机端与机器人建立无线连接，用户可通过手机 APP 远程控制机器人实现前进、后退、左转、右转及停止等操作；采用 MX1508 驱动模块控制左右两侧直流电机，为机器人提供稳定动力，确保其运动状态精准可控。
该智能扫地机器人的应用价值在于，为用户提供了一种高效、便捷的居家清洁解决方案。通过自动避障与定向清扫功能，既避免了家居碰撞风险，又解决了角落清洁不彻底的问题；远程控制功能则进一步提升了操作灵活性，用户可根据实际需求随时调整清洁方案，有效节省人力成本，提升居家清洁效率与生活舒适度。
关键词：STM32 单片机；智能扫地机器人；自动避障；红外寻迹；蓝牙控制
Design of sweeping robot based on STM32
Abstract
With the popularization of smart home concepts and the increasing demand for convenient home cleaning, efficient and intelligent sweeping equipment has become an important tool to improve the home living experience. The traditional manual cleaning method is not only time-consuming and labor-intensive, but also difficult to thoroughly clean special areas such as corners, and the randomness of manual operation can easily lead to low cleaning efficiency. Therefore, developing an intelligent sweeping robot with automatic obstacle avoidance, directional cleaning, and remote control functions is of great significance for improving the quality and efficiency of home cleaning.
This design proposes an intelligent sweeping robot based on STM32F103C8T6 microcontroller. The core functions of the system include: using SG90 servo to drive HC-R04 ultrasonic sensors to detect the surrounding environment in real time, achieving automatic obstacle avoidance, and effectively preventing collisions between robots and household items; Equipped with two TCRT5000 infrared tracking modules, it can recognize the preset black and white line trajectories in the corners of the wall and accurately complete the directional cleaning of the corner area; After the device is turned on, it automatically starts the cleaning mode and controls the operation of the cleaning actuator through a relay, without the need for manual intervention; Integrated ECB02 Bluetooth module, supporting wireless connection between mobile phones and robots. Users can remotely control the robot through a mobile app to perform operations such as forward, backward, left turn, right turn, and stop; The MX1508 drive module is used to control the left and right DC motors, providing stable power for the robot and ensuring its precise and controllable motion state.
The application value of this intelligent sweeping robot lies in providing users with an efficient and convenient home cleaning solution. By using automatic obstacle avoidance and directional cleaning functions, it not only avoids the risk of home collisions, but also solves the problem of incomplete cleaning in corners; The remote control function further enhances operational flexibility, allowing users to adjust cleaning plans according to their actual needs at any time, effectively saving labor costs and improving home cleaning efficiency and living comfort.
Keywords：STM32 microcontroller; Intelligent sweeping robot; Automatic obstacle avoidance; Infrared tracking; Bluetooth control
目 录
1 绪论
1.1 研究背景及意义
1.2 国内外研究现状
1.3 主要内容
2 系统总体方案设计
2.1系统总体设计
2.2 主要模块方案选择
3 系统硬件设计
3.1 总体硬件框架
3.2 主控模块电路设计
3.3 避障模块电路设计
3.4 寻迹模块电路设计
3.5 电机驱动模块电路设计
3.6 蓝牙通信模块电路设计
3.7 清扫控制模块电路设计
4 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蓝牙模块子流程
4.4 超声波检测模块子流程
4.5 直流电机速度调节子流程设计
4.6 舵机子流程设计
5 实物制作与功能测试
5.1 实物制作
5.2 避障功能测试（SG90 舵机与 HC-R04 超声波模块协同）
5.3 角落清扫功能测试（TCRT5000 红外寻迹模块）
5.4 清扫启停功能测试（继电器模块）
5.5 手机端远程控制功能测试（ECB02 蓝牙模块）
5.6 车轮运动控制功能测试（MX1508 驱动模块）
6 总结
参考文献
致谢
附录A 原理图
附录B PCB
附录C 主程序
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