题目：基于视觉传感器的自主扫雷机器人设计与实现中文摘要I摘要：在当今的世界安全形势下，扫雷小车的出现可以减少各国人员在扫雷过程中的人员伤亡，扫雷小车实用性能强更适合在军事化领域或者是民用领域上应用。让它具有光明的发展前景。针对这一情况，本毕业设计就对自主扫雷小车进行研究。本设计是基于STM32处理器的自主扫雷小车控制系统，主要包含视觉识别、测距、避障、驱动还有资源配置。主控芯片采用STM32F103系列核心板。其中避障部分主要用HC-SR04超声波模块结合外部中断1。视觉识别主要采用openmv4摄像头模组以及相关算法来实现对强烈对比的“地雷”进行识别。小车驱动使用PWM技术对两组车轮转速进行控制并通过速度差实现转向。显然，自主扫雷机器人的运用会对未来安全防范事业做出重要贡献。本课题将有助于了解扫雷机器人和智能小车的研究和应用。关键词：STM32；超声波避障；电机控制；PWMII英文摘要TitleTheDesignofmineclearancerobotAbstractIntoday'sworldsecuritysituation,manycountrieshavebeguntodevelopvariousdangerousoperationalrobotssuchasanti-terrorismexplosion-proofrobotsandrescuerobotsfordisasterprotectionandrescuebasedonnationalsecurity.Deminingisalsoanimportantpartofthesecuritystrategy.Sothemineclearancerobotappeared.Duetothefastspeedandhighprecisionofroboticminesweeping,itismostimportanttoavoidcasualtiesandgiveitabrightfuture.ThisdesignisbasedontheSTM32processor'sautonomousmineclearancerobotcontrolsystem,whichmainlyincludesvisualrecognition,ranging,obstacleavoidance,driveandresourceconfiguration.ThemaincontrolchipusestheSTM32F103seriescoreboard.Amongthem,theobstacleavoidancepartmainlyusestheHC-SR04ultrasonicmodulecombinedwithexternalinterruption.ThevisualrecognitionpartmainlyusestheOpenmv4cameramoduletorealizetheidentificationof"mine"byrelatedalgorithms.ThetrolleydriveusesPWMtechiquetocontrolthewheelspeedandachievesteeringthroughthespeeddifference.Obviously,theuseofautonomousmineclearancerobotwillmakeanimportantcontributiontothefutureofsafety.Thistopicwillhelptounderstandtheresearchandapplicationofmineclearancerobotsandintelligentcars.Keywords:STM32;Ultrasonicobstacleavoidance;Motorcontrol;PWM-II-前言在当今的...
