CAJ | 학술논문

针对物品搬运时人类双手仍无法完全解放的现状，设计并实现了一种基于STM32、超声波测距以及比例控制算法的可遥控智能跟随小车。小车以STM32为控制核心，有智能跟随和红外遥控2个模式可选。跟随模式下用2个安装在前端的超声波模块分别实时测量小车与目标之间的距离，单片机采用比例控制算法，根据实测距离控制左右电机转速；遥控模式下单片机根据接收到的红外遥控信号控制小车的运动方向。试验结果表明：小车在2m以内准确跟随几率大于95％、响应时间小于250 m s。该设计实现了小车对目标的360°智能跟随以及在必要情况下对小车的遥控操作，系统可靠，较人性化。
침대물품반운시인류쌍수잉무법완전해방적현상，설계병실현료일충기우STM32、초성파측거이급비례공제산법적가요공지능근수소차。소차이STM32위공제핵심，유지능근수화홍외요공2개모식가선。근수모식하용2개안장재전단적초성파모괴분별실시측량소차여목표지간적거리，단편궤채용비례공제산법，근거실측거리공제좌우전궤전속；요공모식하단편궤근거접수도적홍외요공신호공제소차적운동방향。시험결과표명：소차재2m이내준학근수궤솔대우95％、향응시간소우250 m s。해설계실현료소차대목표적360°지능근수이급재필요정황하대소차적요공조작，계통가고，교인성화。
Currently human hands are still not liberated when men carry things .This paper designs and implements an remote control and intelligent following car based onSTM 32 ,ultrasonic ranging and proportional control algorithm .The car uses STM32 as its control center ,and the intelligent follower mode and the infrared remote controlling mode are both available for the car .There are two ultrasonicmodulesinstalledon the front to watch thedistance between the car and the targetat each time under the following mode .SCMadopts proportional control algorithm and controls the motor speed on the left and right side according to the watcheddistance .Itcontrols the moving direction of the car according to the received infrared signal under remote controlling mode . Experimental results show the car accurately follow probability greater than 95% and response time less than 250 ms within two meters .This design accomplishes the goal that a intelligent car can automaticallyfollow the targeteven turning 360°and peoplecan control the car remotely when necessary .The system is reliable and convenient to people .