科技创新与应用2026，Vol.16Issue(3)：28-31,4.DOI:10.19981/j.CN23-1581/G3.2026.03.008
全地形越障运送智能机器人设计
摘要
Abstract
The design builds an intelligent robot system based on the STM32 microcontroller as the core,and innovatively integrates multi-modal sensing technology to achieve autonomous navigation and material transportation functions under complex terrain.In hardware architecture design:First,a four-wheel independent suspension chassis with dynamic compensation characteristics was developed,and a smooth crossing of 20 mm steps was achieved through polyurethane shock-absorbing members with adjustable elastic modulus;secondly,a modular robotic arm structure was developed,using T-screw transmission and high-precision steering gear control system to ensure that a spherical object with a diameter of 30 mm completes the grapping-transfer-release operation within a specified time;at the same time,it is equipped with a dual-degree-of-freedom guide wheel mechanism and a laser ranging sensor to achieve adaptive trajectory correction in the tunnel environment.At software algorithm level:It is proposed to build a hybrid control architecture based on fuzzy PID to achieve sub-millimeter path tracking accuracy through a multi-channel gray sensor array;fuse Kalman filter data from the MPU6050 Inertial Measurement Unit(IMU)to establish a robot kinematic model to achieve real-time attitude balance;Integrate OpenMV4 machine vision module for color recognition and target transportation.Field tests show that the system has a high success rate in comprehensive test fields on slopes,gravel pavements and simulated rainfall environments,verifying the effectiveness of the design scheme.关键词
STM32单片机/全地形/循迹/越障/智能机器人Key words
STM32 MCU/all-terrain/tracking/obstacle surmounting/intelligent robot分类
信息技术与安全科学引用本文复制引用
张尉,许红霞,陈涣洪,沈艾东..全地形越障运送智能机器人设计[J].科技创新与应用,2026,16(3):28-31,4.基金项目
广东省大学生创新创业训练计划项目(S202413719009) （S202413719009）
2023年教科创教学相长项目化团队项目(GKJXXZ2023028) （GKJXXZ2023028）
