全地形越障运送智能机器人设计

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中图分类号：TP242.6 文献标志码：A 文章编号：2095-2945（2026）03-0028-04

Abstract：Thedesignbuildsaninteligentrobotsystem basedonthe STM32microcontrolerasthecore，andinovatively integratesmulti-modalsensingtechnologytoachieveautonomousnavigationandmaterialtransportationfunctionsundercomplex terain.Inhardwarearchitecturedesign：First，afour-wheelindependentsuspensionchasswithdynamiccompensation characteristics was developed， and a smooth crossing of 20mm steps was achieved through polyurethane shock-absorbing members withadjustableelasticmodulus；secondly，amodularroboticamstructurewasdeveloped，usingT-screwtransmissonandhighprecisionsteeringgearcontrolsystemtoensurethatasphericalobjectwithadiameterof3Ommcompletesthegrappingtransfer-releaseoperationwithinaspecifiedtime;atthesametime，itisequippedwithadual-degre-of-fredomguidewheel mechanismandalaserrangingsensortoachieveadaptivetrajectorycorrectioninthetunnelenvironment.Atsoftwarealgorithm level：ItisproposedtobuildahybridcontrolarchitecturebasedonfuzzyPIDtoachievesub-milimeterpathtrackingaccuracy throughamulti-channelgraysensoraray；fuseKalmanflterdatafromtheMPU6o5OInertialMeasurementUnit（IMU）to establisharobotkinematicmodeltoachievereal-timeatitudebalance；IntegrateOpenMV4machinevisionmoduleforcolor recognitionandtargettransportation.Fieldtestsshowthatthesystemhasahighsuccessrateincomprehensivetestfieldson slopes，gravel pavementsand simulatedrainfall environments，verifying the effctiveness of the design scheme.

Keywords：STM32 MCU;all-terrain; tracking;obstacle surmounting; intelligent robot

移动机器人属于智能机器人学的一个很重要的分支，目前世界各国都开始注重对移动机器人的研究。（剩余4115字）