机械

为进一步提高平衡小车的精度、稳定性及运行安全性，研制了一款自动避障双轮平衡小车，其核心处理器采用STM32F103C8T6芯片，使用MPU6050传感器采集小车运动过程中的车身姿态，并通过编码器获取小车的角度和加速度，然后采用PID算法获取合适的PWM值作用到电机驱动芯片上，通过控制电机的正反转以及转动速度来实现小车运动过程中车身的平衡及转向。利用超声波和舵机模块实现小车的避障功能，使其在遇到障碍物时自主选择方向，从而实现转向。通过调试分析表明，该平衡小车能够在保持平衡移动的基础上准确感知和避开障碍物。该平衡小车运动灵活、成本低，适合在危险狭小的空间里工作，对促进智能机器人的发展和应用具有重要的意义。

In order to further improve the accuracy, stability and operation safety of the balancing vehicle, this paper designs and develops an automatic obstacle avoidance double-wheeled balancing vehicle. Taking STM32F103C8T6 chip as the core processor, the MPU6050 sensor is used to collect the body attitude during the vehicle movement. The angle and acceleration of the vehicle are obtained through the encoder. Then the appropriate PWM value obtained by PID algorithm is acted on the motor drive chip. The balance and steering of the body during the vehicle movement can be realized by controlling the forward-reverse rotation and the rotation speed of the motor. In addition, ultrasonic and servo modules are used to realize the obstacle avoidance function of the vehicle, so that it can choose the direction independently when encountering obstacles, and then the steering is achieved. Finally, through debugging and analysis, the results show that the balancing vehicle can accurately perceive and avoid obstacles while keeping balanced movement. The balancing vehicle designed and developed in this paper is more flexible in movement and lower in cost, and it is more suitable for working in dangerous and narrow space. It is of great significance to the development and application of intelligent robot.