首页下载资源硬件开发基于stm32f103控制的智能小车项目实战源码

ZIP基于stm32f103控制的智能小车项目实战源码

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资源文件列表:

STM32智能小车实战项目源码.zip 大约有242个文件
  1. rush-mog-master/
  2. rush-mog-master/.gitignore 28B
  3. rush-mog-master/LICENSE 11.09KB
  4. rush-mog-master/README.md 6.36KB
  5. rush-mog-master/hardware/
  6. rush-mog-master/hardware/README.md 3.9KB
  7. rush-mog-master/hardware/ago/
  8. rush-mog-master/hardware/ago/ago-backups/
  9. rush-mog-master/hardware/ago/ago-backups/ago-2023-05-20_102128.zip 15.38KB
  10. rush-mog-master/hardware/ago/ago-backups/ago-2023-06-09_072058.zip 5.6KB
  11. rush-mog-master/hardware/ago/ago-backups/ago-2023-06-09_072726.zip 7.03KB
  12. rush-mog-master/hardware/ago/ago-backups/ago-2023-06-09_073612.zip 8.24KB
  13. rush-mog-master/hardware/ago/ago-backups/ago-2023-06-22_081611.zip 14.26KB
  14. rush-mog-master/hardware/ago/ago-backups/ago-2023-06-22_082943.zip 15.04KB
  15. rush-mog-master/hardware/ago/ago-backups/ago-2023-06-22_083612.zip 17.81KB
  16. rush-mog-master/hardware/ago/ago-backups/ago-2023-06-22_084511.zip 17.82KB
  17. rush-mog-master/hardware/ago/ago-backups/ago-2023-06-22_090618.zip 17.82KB
  18. rush-mog-master/hardware/ago/ago-backups/ago-2023-06-23_095208.zip 17.72KB
  19. rush-mog-master/hardware/ago/ago-backups/ago-2023-06-23_134617.zip 24.04KB
  20. rush-mog-master/hardware/ago/ago-backups/ago-2023-06-23_223554.zip 24.47KB
  21. rush-mog-master/hardware/ago/ago-backups/ago-2023-06-24_130458.zip 24.59KB
  22. rush-mog-master/hardware/ago/ago-backups/ago-2023-07-15_203819.zip 24.58KB
  23. rush-mog-master/hardware/ago/ago-backups/ago-2023-11-23_221718.zip 22.92KB
  24. rush-mog-master/hardware/ago/ago-backups/ago-2023-11-23_222338.zip 22.83KB
  25. rush-mog-master/hardware/ago/ago-backups/ago-2023-11-23_222943.zip 24.08KB
  26. rush-mog-master/hardware/ago/ago-backups/ago-2023-11-23_223444.zip 24.7KB
  27. rush-mog-master/hardware/ago/ago-backups/ago-2023-11-23_225430.zip 24.7KB
  28. rush-mog-master/hardware/ago/ago-backups/ago-2024-06-16_215220.zip 23.44KB
  29. rush-mog-master/hardware/ago/ago-backups/ago-2024-06-16_215739.zip 24.21KB
  30. rush-mog-master/hardware/ago/ago-backups/ago-2024-06-16_224900.zip 24.25KB
  31. rush-mog-master/hardware/ago/ago-backups/ago-2024-06-16_225909.zip 25.71KB
  32. rush-mog-master/hardware/ago/ago-backups/ago-2024-06-16_231442.zip 25.71KB
  33. rush-mog-master/hardware/ago/ago-backups/ago-2024-06-23_185736.zip 25.71KB
  34. rush-mog-master/hardware/ago/ago.kicad_pcb 50B
  35. rush-mog-master/hardware/ago/ago.kicad_prl 1.12KB
  36. rush-mog-master/hardware/ago/ago.kicad_pro 8.89KB
  37. rush-mog-master/hardware/ago/ago.kicad_sch 111.5KB
  38. rush-mog-master/hardware/ago/fp-info-cache 2.97MB
  39. rush-mog-master/hardware/integrate_archetecture.png 52.85KB
  40. rush-mog-master/hardware/modules/
  41. rush-mog-master/hardware/modules/OpenMV4.jpg 231.97KB
  42. rush-mog-master/hardware/modules/asr-pro.jpg 72.73KB
  43. rush-mog-master/hardware/modules/board.jpg 74.03KB
  44. rush-mog-master/hardware/modules/camera.jpg 369.78KB
  45. rush-mog-master/hardware/modules/camera.png 4.88KB
  46. rush-mog-master/hardware/modules/gy530.jpg 35.38KB
  47. rush-mog-master/hardware/modules/l298n.jpg 128.64KB
  48. rush-mog-master/hardware/modules/motor.jpg 111.07KB
  49. rush-mog-master/hardware/modules/mpu6050.jpg 82.68KB
  50. rush-mog-master/hardware/modules/oled.jpg 88.95KB
  51. rush-mog-master/hardware/modules/power.jpg 66.04KB
  52. rush-mog-master/hardware/modules/power_module.jpg 136.16KB
  53. rush-mog-master/hardware/modules/raspberry.jpg 86.95KB
  54. rush-mog-master/hardware/modules/robotic-arm.jpg 40.09KB
  55. rush-mog-master/hardware/modules/servo-driver.jpg 115.88KB
  56. rush-mog-master/hardware/modules/stm32f103c8t6.jpg 75.65KB
  57. rush-mog-master/hardware/modules/upper.jpg 118.19KB
  58. rush-mog-master/hardware/modules/vehicle_method.jpg 85.22KB
  59. rush-mog-master/hardware/modules/wheel.jpg 102.58KB
  60. rush-mog-master/images/
  61. rush-mog-master/images/AGO.png 1.16MB
  62. rush-mog-master/images/AGO_B.png 1.4MB
  63. rush-mog-master/images/AGO_F.png 899.08KB
  64. rush-mog-master/images/AGO_T.png 1.2MB
  65. rush-mog-master/software/
  66. rush-mog-master/software/README.md 3.72KB
  67. rush-mog-master/software/ago.mdj 322.23KB
  68. rush-mog-master/software/architechture.png 74.98KB
  69. rush-mog-master/software/audio_control/
  70. rush-mog-master/software/audio_control/README.md 343B
  71. rush-mog-master/software/audio_control/ago-audio.bin 1.63MB
  72. rush-mog-master/software/audio_control/ago-audio.hd 11.18KB
  73. rush-mog-master/software/audio_control/ago-command.png 271.82KB
  74. rush-mog-master/software/main_control/
  75. rush-mog-master/software/main_control/CMake/
  76. rush-mog-master/software/main_control/CMake/GNU-ARM-Toolchain.cmake 2.02KB
  77. rush-mog-master/software/main_control/CMake/Modules/
  78. rush-mog-master/software/main_control/CMake/Modules/FindOpenocd.cmake 233B
  79. rush-mog-master/software/main_control/CMake/platform.cmake 457B
  80. rush-mog-master/software/main_control/CMakeLists.txt 1.34KB
  81. rush-mog-master/software/main_control/README.md 3.43KB
  82. rush-mog-master/software/main_control/STM32F1/
  83. rush-mog-master/software/main_control/STM32F1/CMakeLists.txt 55B
  84. rush-mog-master/software/main_control/STM32F1/core/
  85. rush-mog-master/software/main_control/STM32F1/core/CMakeLists.txt 243B
  86. rush-mog-master/software/main_control/STM32F1/core/src/
  87. rush-mog-master/software/main_control/STM32F1/core/src/startup_stm32f10x_md.s 10.17KB
  88. rush-mog-master/software/main_control/STM32F1/core/src/system_stm32f10x.c 36.38KB
  89. rush-mog-master/software/main_control/STM32F1/std_peripheral/
  90. rush-mog-master/software/main_control/STM32F1/std_peripheral/CMakeLists.txt 1.29KB
  91. rush-mog-master/software/main_control/STM32F1/std_peripheral/Release_Notes.html 34.64KB
  92. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/
  93. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/cmsis/
  94. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/cmsis/README.md 89B
  95. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/cmsis/core/
  96. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/cmsis/core/cmsis_compiler.h 8.54KB
  97. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/cmsis/core/cmsis_gcc.h 59.13KB
  98. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/cmsis/core/cmsis_version.h 1.64KB
  99. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/cmsis/core/core_cm3.h 106.61KB
  100. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/cmsis/device/
  101. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/cmsis/device/stm32f10x.h 622.9KB
  102. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/cmsis/device/system_stm32f10x.h 2.17KB
  103. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/misc.h 8.9KB
  104. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_adc.h 21.31KB
  105. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_bkp.h 7.51KB
  106. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_can.h 27.04KB
  107. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_cec.h 6.55KB
  108. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_conf.h 4.99KB
  109. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_crc.h 2.24KB
  110. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_dac.h 15.01KB
  111. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_dbgmcu.h 3.86KB
  112. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_dma.h 20.4KB
  113. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_exti.h 6.8KB
  114. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_flash.h 24.98KB
  115. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_fsmc.h 26.51KB
  116. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_gpio.h 19.83KB
  117. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_i2c.h 29.46KB
  118. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_iwdg.h 3.87KB
  119. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_pwr.h 4.41KB
  120. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_rcc.h 29.87KB
  121. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_rtc.h 3.9KB
  122. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_sdio.h 21.48KB
  123. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_spi.h 17.44KB
  124. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_tim.h 51.33KB
  125. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_usart.h 16.44KB
  126. rush-mog-master/software/main_control/STM32F1/std_peripheral/inc/stm32f10x_wwdg.h 3.03KB
  127. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/
  128. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/misc.c 7.01KB
  129. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/stm32f10x_adc.c 46.23KB
  130. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/stm32f10x_bkp.c 8.4KB
  131. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/stm32f10x_can.c 44.18KB
  132. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/stm32f10x_cec.c 11.51KB
  133. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/stm32f10x_crc.c 3.4KB
  134. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/stm32f10x_dac.c 18.77KB
  135. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/stm32f10x_dbgmcu.c 5.16KB
  136. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/stm32f10x_dma.c 29.04KB
  137. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/stm32f10x_exti.c 6.93KB
  138. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/stm32f10x_flash.c 61.03KB
  139. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/stm32f10x_fsmc.c 34.78KB
  140. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/stm32f10x_gpio.c 22.81KB
  141. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/stm32f10x_i2c.c 44.84KB
  142. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/stm32f10x_iwdg.c 4.93KB
  143. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/stm32f10x_pwr.c 8.69KB
  144. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/stm32f10x_rcc.c 50.2KB
  145. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/stm32f10x_rtc.c 8.97KB
  146. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/stm32f10x_sdio.c 28.35KB
  147. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/stm32f10x_spi.c 29.65KB
  148. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/stm32f10x_tim.c 106.73KB
  149. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/stm32f10x_usart.c 37.65KB
  150. rush-mog-master/software/main_control/STM32F1/std_peripheral/src/stm32f10x_wwdg.c 5.73KB
  151. rush-mog-master/software/main_control/ThirdParty/
  152. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/
  153. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/CMakeLists.txt 718B
  154. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Include/
  155. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Include/FreeRTOS.h 26.43KB
  156. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Include/FreeRTOSConfig.h 7.74KB
  157. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Include/StackMacros.h 8.35KB
  158. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Include/croutine.h 28.45KB
  159. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Include/deprecated_definitions.h 9.93KB
  160. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Include/event_groups.h 28.8KB
  161. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Include/list.h 20.67KB
  162. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Include/mpu_wrappers.h 8.56KB
  163. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Include/portable.h 8.48KB
  164. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Include/portmacro.h 8.78KB
  165. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Include/projdefs.h 7.75KB
  166. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Include/queue.h 61.61KB
  167. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Include/semphr.h 33.31KB
  168. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Include/stdint.readme 850B
  169. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Include/task.h 83.59KB
  170. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Include/timers.h 53.21KB
  171. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Source/
  172. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Source/croutine.c 15.4KB
  173. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Source/event_groups.c 23.43KB
  174. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Source/heap_4.c 16.42KB
  175. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Source/list.c 10.74KB
  176. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Source/port.c 28.53KB
  177. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Source/queue.c 80.6KB
  178. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Source/tasks.c 143.99KB
  179. rush-mog-master/software/main_control/ThirdParty/FreeRTOS/Source/timers.c 33.92KB
  180. rush-mog-master/software/main_control/build-debug.sh 137B
  181. rush-mog-master/software/main_control/build-eclipse.sh 157B
  182. rush-mog-master/software/main_control/build.sh 112B
  183. rush-mog-master/software/main_control/code-format.sh 89B
  184. rush-mog-master/software/main_control/linker/
  185. rush-mog-master/software/main_control/linker/stm32f103c8.ld 3.07KB
  186. rush-mog-master/software/main_control/main_control_class_design.png 134.44KB
  187. rush-mog-master/software/main_control/src/
  188. rush-mog-master/software/main_control/src/CMakeLists.txt 2.58KB
  189. rush-mog-master/software/main_control/src/inc/
  190. rush-mog-master/software/main_control/src/inc/arm_roboot_executor.h 1.26KB
  191. rush-mog-master/software/main_control/src/inc/audio_receiver.h 406B
  192. rush-mog-master/software/main_control/src/inc/command.h 2.5KB
  193. rush-mog-master/software/main_control/src/inc/controller.h 811B
  194. rush-mog-master/software/main_control/src/inc/driver/
  195. rush-mog-master/software/main_control/src/inc/driver/bmp.h 5.46KB
  196. rush-mog-master/software/main_control/src/inc/driver/delay.h 1.94KB
  197. rush-mog-master/software/main_control/src/inc/driver/mpu6050.h 5.13KB
  198. rush-mog-master/software/main_control/src/inc/driver/oled.h 2.41KB
  199. rush-mog-master/software/main_control/src/inc/driver/oledfont.h 17.81KB
  200. rush-mog-master/software/main_control/src/inc/driver/stm32_pca9685.h 940B
  201. rush-mog-master/software/main_control/src/inc/driver/sys.h 2.86KB
  202. rush-mog-master/software/main_control/src/inc/protocol/
  203. rush-mog-master/software/main_control/src/inc/protocol/iic.h 1.28KB
  204. rush-mog-master/software/main_control/src/inc/task_manager.h 459B
  205. rush-mog-master/software/main_control/src/inc/timer_executor.h 133B
  206. rush-mog-master/software/main_control/src/inc/uart_log.h 775B
  207. rush-mog-master/software/main_control/src/inc/vehicle_executor.h 1.31KB
  208. rush-mog-master/software/main_control/src/inc/version.h 166B
  209. rush-mog-master/software/main_control/src/inc/version.h.in 234B
  210. rush-mog-master/software/main_control/src/inc/video_executor.h 372B
  211. rush-mog-master/software/main_control/src/inc/video_receiver.h 373B
  212. rush-mog-master/software/main_control/src/src/
  213. rush-mog-master/software/main_control/src/src/arm_roboot_executor.c 790B
  214. rush-mog-master/software/main_control/src/src/audio_receiver.c 3.84KB
  215. rush-mog-master/software/main_control/src/src/command.c 1.17KB
  216. rush-mog-master/software/main_control/src/src/controller.c 4.28KB
  217. rush-mog-master/software/main_control/src/src/driver/
  218. rush-mog-master/software/main_control/src/src/driver/delay.c 7.74KB
  219. rush-mog-master/software/main_control/src/src/driver/mpu6050.c 6.29KB
  220. rush-mog-master/software/main_control/src/src/driver/oled.c 10.28KB
  221. rush-mog-master/software/main_control/src/src/driver/readme.md 241B
  222. rush-mog-master/software/main_control/src/src/driver/stm32_pca9685.c 4.16KB
  223. rush-mog-master/software/main_control/src/src/driver/sys.c 880B
  224. rush-mog-master/software/main_control/src/src/main.c 866B
  225. rush-mog-master/software/main_control/src/src/protocol/
  226. rush-mog-master/software/main_control/src/src/protocol/iic.c 2.85KB
  227. rush-mog-master/software/main_control/src/src/task_manager.c 1.74KB
  228. rush-mog-master/software/main_control/src/src/timer_executor.c 1.49KB
  229. rush-mog-master/software/main_control/src/src/uart_log.c 1.75KB
  230. rush-mog-master/software/main_control/src/src/vehicle_executor.c 8.07KB
  231. rush-mog-master/software/main_control/src/src/video_executor.c 740B
  232. rush-mog-master/software/main_control/src/src/video_receiver.c 247B
  233. rush-mog-master/software/main_control/st-link.png 26.51KB
  234. rush-mog-master/software/main_control/tools/
  235. rush-mog-master/software/main_control/tools/.gdbinit 124B
  236. rush-mog-master/software/main_control/tools/format.sh 254B
  237. rush-mog-master/software/main_control/tools/gdbinit 66B
  238. rush-mog-master/software/main_control/tools/stm32f103c8-jlink.cfg 168B
  239. rush-mog-master/software/remote_center/
  240. rush-mog-master/software/remote_center/README.md 42B
  241. rush-mog-master/software/video_control/
  242. rush-mog-master/software/video_control/README.md 46B

资源介绍:

基于stm32f103智能小车，包括方向控制、测距、视觉以及音频控制，并且通过OLED记录显示车体状态。同时使用esp8266远程控制，实时同步车载视频。实现功能包括语音控制小车行驶、手机APP控制小车行驶、自动识别物体、机械臂搬运物体。
# Rush Mog Rush Mog是一款致敬Unimog的万向轮智能高扭矩小车。基于stm32f103控制，带mpu6500方向控制、tof测距、openmv视觉以及asrpro音频控制，并且通过OLED记录显示车体状态。同时使用esp8266远程控制，实时同步车载视频。 ## 功能说明 #### （1）语音控制小车行驶 可通过语音控制小车前进、后退、左转、右转、向左横向行驶，向右横向行驶，向左前、右前、左后、右后方向行驶。 小车语音控制分默认和避障模式。默认模式下，每个指令执行2秒自动停止。 避障模式下，除非有障碍物，否则一直跑下去。 避障模式下，TOF测距随小车前进方向转动。比如向左前走时，云台向左前转45度。 #### （2）手机APP控制小车行驶 提供鸿蒙系统APP，通过APP控制小车行驶，同时同步摄像头实时画面。 #### （3）自动识别物体 通过车载摄像头和机载激光雷达自动识别、分类物体。可以根据目标物体进行搜索、锁定，并对移动目标物体进行跟踪。 #### （4）机械臂搬运物体 使用机械臂对物体进行夹起、转移、放下到指定范围区域等动作，实现物体搬运。搬运路径可规划也可自动学习。 ## 设计说明 #### 硬件架构设计 - DIY小车，使用97mm万向轮加JGB37-520电机，L298N驱动板(四驱的，或者用两个两驱的)。 - 中控使用STM32F103C8T6单板。 - 语音控制使用asrpro。 - 机械臂使用普通舵机支架组装，舵机使用MG996R，PCA9685驱动。 - 视频及图像处理使用OpenMV+GY-530 VL53L0X TOF测距。 - 激光雷达，YDLIDAR激光雷达。 - 电源选择12V锂电充电电池。 ![](hardware/integrate_archetecture.png) 详细参照：[硬件设计说明](hardware/README.md) #### 软件架构设计 - 软件分语音识别处理、中控、视频及图像处理、手机APP四个子系统。 - 语音识别处理使用asrpro配套的天问五一开发IDE图形化开发。 - 中控软件基于stm32及freertos开发。控制小车及舵机驱动。语音与中控之间使用uart串口通信。 - 视频及图像处理基于PyTorchVideo开发，同时树莓派与中控建立IIC通信，反馈视频分析结果驱动小车和机械臂移动。 - 手机APP基于鸿蒙应用框架开发，控制指令同语音指令。通过树莓派热点与小车建立无线通信网络。HTTP协议通信。 ![](software/architechture.png) 详细参照：[软件设计说明和代码](software/README.md) ## 语音控制指令 | 命令关键字 | 功能 | 命令ID | 指示灯| | ------------ | --------------------------- | ------ | ------ | | 停/别走了 | 小车停止 | 0 | | | 前进/走 | 小车前进 | 1 | | | 后退 | 小车后退 | 2 | | | 往左走 | 小车向左横向走 | 3 | | | 往右走 | 小车向右横向走 | 4 | | | 往左前走 | 小车向左前方向斜着走 | 5 | | | 往右前走 | 小车向右前方向斜着走 | 6 | | | 往左后走 | 小车向左后方向斜着走 | 7 | | | 往右后走 | 小车向右后方向斜着走 | 8 | | | 左转 | 小车向左转 | 9 | | | 右转 | 小车向右转 | A | | | 调头 | 小车调头 | B | | | 回来 | 小车向前一方向相反的方向行驶 | C | | | 测试小车 | 测试小车 | D | | | 测试机械臂 | 测试机械臂 | E | | | 启动避障模式 | 启动避障模式 | F | | | 关闭避障模式 | 关闭避障模式 | G | | | 追踪小球 | 追踪小球 | H | | | 追踪够够 | 追踪够够 | I | | ## 成品效果 ##### 视频 [https://www.bilibili.com/video/BV1Db4y1V7Ny](https://www.bilibili.com/video/BV1Db4y1V7Ny) ##### 左视 ![](images/AGO.png) ##### 正视 ![](images/AGO_F.png) ##### 俯视 ![](images/AGO_T.png) ##### 后视 ![](images/AGO_B.png) ## 硬件模块及工具清单： | 模块 | 说明 | 价格(元) | | ------------- | ------------------------------------------------------------ | -------- | | STM32f103C8T6 | 控制单板，作为控制中心。 | 15 | | 小车底盘 | 金属底盘，JGB 37 520电机带霍尔效应编码器，麦克纳姆万向轮 | 350 | | L298N四驱板 | 四驱的L298N电机驱动 | 28 | | 语音控制模块 | ASR PRO语音控制板 | 25 | | 电源及转换板 | 12V电源，DC接口。 12V转5V和3.3V转换板。 | 40 | | 摄像头 | OV7725摄像头模块 | 10 | | 机械臂 | 机械臂器件带舵机，这里用的最普通的MG996舵机，再好一点用串行总线舵机，再贵一点的用伺服电机，但后面的都比较贵了。 | 200 | | 舵机驱动 | PCA9685 16路舵机驱动 | 16 | | OpenMV | 视觉智能开发板 | 300 | | OLED屏 | OLED屏，用来显示调试/监控信息 | 10 | | TOF测距 | OpenMV扩展，弥补OpenMV在测距方面的不足 | 10 | | 陀螺仪 | MPU6050，用来监控小车方向 | 15 | | ESP8266 | 用来创建WIFI网络，连接手机APP | 15 | 小车底盘、机械臂可以分开买，拼多多也有组装好的套件，组装好的套件贵一些，分开买便宜。 另外推荐一个公司，他干了我想做的事情，各种智能车、机器： [亚博智能科技](https://www.yahboom.com)
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