LI Shi-guang， YANG Xiao-lei
(College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao 266590, China)
Abstract： An intelligent line-tracking chess robot based on STM32 is introduced in this paper. Its hardware consists of photoelectric detection circuit, main control circuit, motor driven circuit, steering engine driven circuit and dial switch. The hardware structure and software flow chart of the system are described in details in this paper. The robot is driven by rear wheel motors, and the real-time position of the robot is determined by the ground information collected by infrared sensors. The heading direction of robot is adjusted by steering engine installed in front wheel, and the open angle of manipulator is controlled by the other steering engine which can ensure the robot moving chessmen accurately and quickly during the moving process. The test shows that the kind of intelligent chess robot can complete the task in a fast and accurate way.
Key words： STM32; intelligent robot; line-tracking; infrared sensor; steering engine；detection circuit
CLD number： TP242.6 Document code： A
Article ID： 1674-8042(2014)02-0059-05 doi： 10.3969/j.issn.1674-8042.2014.02.012
References
[1] LEI Zhen-yong, XIE Guang-yi. Control design and achievement of Freescale intelligent car steering engine and velocity measurement. Electronic Engineering Design, 2010: 91.
[2] LI Qing-zhong, GU Wei-kang, YE Xiu-qing. The research on the intelligent pre-screening control method of the route tracking of the mobile robot. Robot, 2002, (3): 156-159.
[3] WANG Shui-hong, XU Wei, HAO Li-ping. The principle and practice of the STM32 series ARM Cortex * M3 Microcontroller. Beijing: Beijing University of Aeronautics and Astronautics Press, 2008.
[4] LI Hua. MCS-51 series SCM practical interface technology. Beijing: Beijing University of Aeronauuics and Astronautics press, 2002.
[5] Micro-Power(50uA), Zero-Drift. Rail-to-Rail out instrumentation amplifier INA333.Da11as: Texas Instruments, 2008.
[6] ARM Cortex-M3 Processor. The architecture for the digital world. [2006-06-01]. http:∥www. Arm. com/zh/products /processors/cortex-m/cortex-m3.php.
[7] REN Zhe, PAN Shu-lin, FANG Hong-zheng. Embedded operation system basis and Linux. Beijing: Beijing University of Aeronautics and Astronautics Press, 2006.
[8] WANG Fu-rui. MCU monitoring and control system design. Beijing: Beijing University of Aeronautics and Astronautics Press, 1999.
[9] XIONG Ming. MCS-51 single-chip microcomputer principle and application. Beijing: Tsinghua University Press, 2004.
[10] ZHANG Yong-bin. Photoelectric sensor CCD and CMOS principle and application. International Electronic Elements, 2001(12): 46-48.
[11] ZHU Yi-bin. Automatic line-tracking robot design. Modern Commercial Industry, 2008, (22): 318-338.
基于 STM32 的智能巡线象棋机器人
李世光， 杨晓雷
(山东科技大学 电气与自动化工程学院，山东 青岛 266590)
摘要:本文描述了一种以 STM32 微处理器为核心的智能巡线象棋机器人。 其系统硬件主要包括检测电路、 主控电路、 电机驱动电路、 舵机驱动电路和拨盘开关等， 本文详细介绍了该系统的硬件结构和软件流程。 该机器人由后轮电机驱动， 根据红外传感器采集到的路径信息来确定机器人的实时位置， 并由前轮安置的舵机1对机器人的行进方向进行调整。 机器人机械手的张开角度由舵机2进行控制， 使其在行进过程中能够快速准确地移动棋子。 实测表明， 该智能巡线象棋机器人可以较好地完成任务。
关键词:STM32； 智能机器人； 巡线； 红外检测； 舵机； 探测电路
引用格式：LI Shi-guang， YANG Xiao-lei. Design of intelligent line-tracking chess robot based on STM32. Journal of Measurement Science and Instrumentation, 2014, 5(2): 59-63. [doi: 10.3969/j.issn.1674-8042.2014.02.012]
[full text view]
