中文摘要摘要：在当今的世界安全形势下，扫雷小车的出现可以减少各国人员在扫雷过程中的人员伤亡，扫雷小车实用性能强更适合在军事化领域或者是民用领域上应用。让它具有光明的发展前景。针对这一情况，本毕业设计就对自主扫雷小车进行研究。本设计是基于 STM32 处理器的自主扫雷小车控制系统，主要包含视觉识别、测距、避障、驱动还有资源配置。主控芯片采用 STM32F103 系列核心板。其中避障部分主要用 HC-SR04 超声波模块结合外部中断 1。视觉识别主要采用openmv4 摄像头模组以及相关算法来实现对强烈对比的“地雷”进行识别。小车驱动使用 PWM 技术对两组车轮转速进行控制并通过速度差实现转向。显然，自主扫雷机器人的运用会对未来安全防范事业做出重要贡献。本课题将有助于了解扫雷机器人和智能小车的研究和应用。关键词：STM32；超声波避障；电机控制；PWM I毕业设计说明书英文摘要Title The Design of mine clearance robot AbstractIn today's world security situation, many countries have begun to develop various dangerous operational robots such as anti-terrorism explosion-proof robots and rescue robots for disaster protection and rescue based on national security. Demining is also an important part of the security strategy. So the mine clearance robot appeared. Due to the fast speed and high precision of robotic minesweeping, it is most important to avoid casualties and give it a bright future.This design is based on the STM32 processor's autonomous mine clearance robot control system, which mainly includes visual recognition, ranging, obstacle avoidance, drive and resource configuration. The main control chip uses the STM32F103 series core board. Among them, the obstacle avoidance part mainly uses the HC-SR04 ultrasonic module combined with external interruption. The visual recognition part mainly uses the Openmv4 camera module to realize the identification of "mine" by related algorithms. The trolley drive uses PWM techique to control the wheel speed and...
