爬 墙 机 器 人 设 计 —— 控 制 程 序 设 计北京理工大学珠海学院 2020 届本科生毕业设计爬 墙 机 器 人 设 计 — 控 制 程 序 设 计摘 要本文叙述了为了突破水平面上的限制，以STM32MCU 位控制芯片，以负压吸附为吸附方式的爬墙机器人。在垂直墙面上希望通过调节轮子的转速差的方式, 设计实现在非水平面上的四个方向移动的轮式机器人。设计初步采用半自动化的方式进行控制，使用红外遥控器实现前后左右、停止等基础运动，再根据实际应用场景，设计出贴合实际应用的功能，并利用各种功能模块进行组合搭建，利用keil5、j-link进行程序调试仿真，研发出了适合常规工业用的爬墙机器人。关键词：爬墙机器人；控制程序；STM32 ； 北京理工大学珠海学院 2020 届本科生毕业设计Design of wall climbing robot- control program designAbstractIn order to solve the problem of vertical and horizontal wall operation difficulties, a wall-climbing robot with a STM32MCU bit control chip and a negative pressure adsorption principle for wall adsorption was designed. By adjusting the speed difference of the wheels on the vertical wall, it can be moved in four directions on the non-horizontal plane. , Realize the five basic actions of ascending, descending, right, left and stopping by receiving wireless remote control signals, laying a good foundation for the further realization of complex actions and practical applications, and using various functional modules for combined construction, Using keil5 and j-link for program debugging and simulation, a wall-climbing robot suitable for conventional industry was developed.Keywords: wall climbing robot; control program; STM32; 北京理工大学珠海学院 2020 届本科生毕业设计目 录目 录................................................................................................................................................21 绪论.............................................................................................................
