Graduation Project: STM32 Logistics Handling Car

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Initially, when Sister Ni added Island Master_Landor‘s WeChat, he thought it was a robot talking to him Graduation Project: STM32 Logistics Handling Car (Sister Ni and Sister Mo only have one WeChat, you are adding us personally). During the live broadcast of the 14th Intelligent Car Competition, Island Master_Landor focused on Darwin, he is a senior fan of ours, currently preparing for the electric competition, wishing him good results.

Today, the project shared by Island Master_Landor is a collaboration with a senior from his fourth year, the “Mecha Master” logistics handling work from the school-level competition. If future graduates want to do a logistics car, they can save this. Since Island Master_Landor is temporarily not at school, the demonstration video and physical object cannot be presented to everyone. If you are interested in this car, you can follow his blog (see the end of the article), and encourage him to share more content

# Venue Map and Brief Description of Competition Tasks #

The competition task requires starting from the starting area, going to the resource area to pick up ping pong balls, then going to the resource integration area to classify and place the ping pong balls of different colors, and finally stopping the car in the target area.

# Hardware Selection #

Chassis: Using a package from the Balance Car Home that comes with a chassis and 4 mecanum wheels.(No need for PS2 controller, line following configuration is unnecessary, wheel diameter is 60mm)

Main Control: STM32F103ZET6 minimal system board, not highly recommended for this one, mainly because it doesn’t look good.(No SRAM added)

Motor Driver: A H-bridge dual driver from WINGXINE Ali Fengsi, the motor driver is super easy to use.

Wireless Serial Port: Chose the wireless serial port from Zhufei Technology, half-duplex. Mainly because I like plug-and-play.

Mechanical Arm: This claw is really not recommended, here is a screenshot to help everyone avoid the pit. (Black B claw)

# Hardware Design #

What’s worth mentioning is the design of the power supply part, while the design of the main control and motor driver parts is essentially just making the corresponding circuit connections, that’s all.Now let me talk about this power design in detail.

1) The initial plan was to use a model aircraft battery (Qiangsheng Electronics, 5200mAh, 11.1V output, borrowed from the lab, no product connection), using LM2940-5.0 to regulate to 5V to power the motor driver, and then using LM1117-3.3 to regulate to 3.3V to power the microcontroller.

The problem encountered was that when the motor duty cycle was set to 50%, prolonged operation would cause the LM2940 to overheat and automatically protect.

2) The improved method was to replace it with an old battery, those who have done intelligent cars know (Xiangshan Maple Leaf, output 7.2V, 2000mAh nickel-chromium battery)

# Design Thinking #

Using infrared modules for line tracking, (the infrared module was borrowed from the lab, there are no model markings on it, no link; note: five-way infrared, no potentiometer to adjust the threshold), using the lab’s servos and a mechanical claw bought to connect a mechanical arm to execute the grabbing of ping pong balls, using STM32 for overall control, and wirelessly transmitting back to a computer host to check the car’s status in real-time.

Some may ask, aren’t the ping pong balls supposed to be classified by color in the resource integration area? How can the hardware mentioned above accomplish this task?

Using OpenMV from Xingtong Technology (those who understand will know, I won’t provide the link) to identify the position of the balls and control the servo to grab them, performing color recognition classification in the resource integration area.OpenMV and the main control STM32 communicate via serial port.

# Part of the Code #

Complete code, two channels for download:

1) Reply “Logistics Car” on “Darwin Says” WeChat

2) Get it from Island Master_Landor’s GitHub repository:

https://github.com/landor163/Logistics-handling_V2.7

The following is part of the code:

Infrared.c

#include "bsp_Find_Num.h"
void Find_Nun_Init(){  GPIO_InitTypeDef  GPIO_InitStruct;                                           // Define a GPIO_InitTypeDef type structure  RCC_APB2PeriphClockCmd(LED_1_GPIO_CLK|LED_2_GPIO_CLK|LED_3_GPIO_CLK|LED_4_GPIO_CLK|LED_5_GPIO_CLK, ENABLE);// Open the clock for the corresponding GPIO of LED  GPIO_InitStruct.GPIO_Pin = LED_1_GPIO_PIN|LED_2_GPIO_PIN|LED_3_GPIO_PIN|LED_4_GPIO_PIN|LED_5_GPIO_PIN;// Set the GPIO pins to be controlled  GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IPD;                                 // Set to pull-down resistor input  GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;                               // Set GPIO speed  GPIO_StructInit(&amp;GPIO_InitStruct);}

Infrared.h

#ifndef  _BSP_FIND_NUM_H
#define  _BSP_FIND_NUM_H
#include "stm32f10x.h"
//******************** Infrared tracking module IO configuration (digital) *****************//// led   1 #define LED_1_GPIO_PORT   GPIOB
#define LED_1_GPIO_CLK    RCC_APB2Periph_GPIOB
#define LED_1_GPIO_PIN    GPIO_Pin_2
// led   2
#define LED_2_GPIO_PORT   GPIOB
#define LED_2_GPIO_CLK    RCC_APB2Periph_GPIOB
#define LED_2_GPIO_PIN    GPIO_Pin_7
// led  3 #define LED_3_GPIO_PORT   GPIOB
#define LED_3_GPIO_CLK    RCC_APB2Periph_GPIOB
#define LED_3_GPIO_PIN    GPIO_Pin_4
// led   4 #define LED_4_GPIO_PORT   GPIOB
#define LED_4_GPIO_CLK    RCC_APB2Periph_GPIOB
#define LED_4_GPIO_PIN    GPIO_Pin_5
// led   5 #define LED_5_GPIO_PORT   GPIOB
#define LED_5_GPIO_CLK    RCC_APB2Periph_GPIOB
#define LED_5_GPIO_PIN    GPIO_Pin_6
// Detect each input separately
#define LED_1_out  GPIO_ReadInputDataBit( LED_1_GPIO_PORT, LED_1_GPIO_PIN);
#define LED_2_out  GPIO_ReadInputDataBit( LED_2_GPIO_PORT, LED_2_GPIO_PIN);
#define LED_3_out  GPIO_ReadInputDataBit( LED_3_GPIO_PORT, LED_3_GPIO_PIN);
#define LED_4_out  GPIO_ReadInputDataBit( LED_4_GPIO_PORT, LED_4_GPIO_PIN);
#define LED_5_out  GPIO_ReadInputDataBit( LED_5_GPIO_PORT, LED_5_GPIO_PIN);
void Find_Nun_Init(void);        // Initialize infrared tracking module
#endif

Control.c

#include "bsp_Car_Oper.h"
#include "bsp_em_gpio.h"
#include "bsp_Find_Num.h"
#include "bsp_usart.h"
#include "bsp_SysTick.h"
int LED_1=1,LED_2=1,LED_3=1,LED_4=1,LED_5=1,i=0,status=0;static int Resources=1;
 void Follow_line()// Line following{// The red light on the car is 1, off is 0;// Not stepping on the black line red (1), stepping on the black line off (0);  LED_1=LED_1_out;//A  LED_2=LED_2_out;//A  LED_3=LED_3_out;//B  LED_4=LED_4_out;//A  LED_5=LED_5_out;//B
  if((LED_1==1)&amp;(LED_5==1))// 2, 3, 4 all pressed the line  {        Car_Fore(Car_Speed_Str);// Go straight    status=1;      }
  if((LED_1==1)&amp;(LED_3==0)&amp;(LED_5==0))// 2 lost the line, turn left a bit  {        Car_CLOCKWISE(Car_Speed_Turn+20);// Turn left    status=2;  }
  if((LED_1==0)&amp;(LED_3==0)&amp;(LED_5==1))// 4 lost the line, turn right a bit  {    Car_ANTICLOCKWISE(Car_Speed_Turn);// Turn right        status=3;  }  //printf("LED_1=%d LED_2=%d LED_3=%d LED_4=%d LED_5=%d\n",LED_1,LED_2,LED_3,LED_4,LED_5);}
void Identify()// Mode recognition{//  if((LED_1==0)&amp;(LED_2==0)&amp;(LED_3==0)&amp;(LED_4==0)&amp;(LED_5==0)&amp;(Resources==6))// Uphill//  {//    status=6;//    Car_Fore(80);// Go straight through//    SysTick_Delay_Ms(4000);//    Resources=7;//  }    if((LED_1==0)&amp;(LED_2==0)&amp;(LED_3==0)&amp;(LED_4==0)&amp;(LED_5==0)&amp;(Resources==5))// Third respawn point  {    status=6;    Car_Fore(30);// Go straight through    SysTick_Delay_Ms(1500);    Resources=6;  }    if((LED_1==0)&amp;(LED_2==0)&amp;(LED_3==0)&amp;(LED_4==0)&amp;(LED_5==0)&amp;(Resources==4))// Z_2  {    status=6;    Car_Fore(30);    SysTick_Delay_Ms(300);    Car_ANTICLOCKWISE(Car_Speed_Turn);// Turn right    SysTick_Delay_Ms(650);    Resources=5;  }    if((LED_1==0)&amp;(LED_2==0)&amp;(LED_3==0)&amp;(LED_4==0)&amp;(LED_5==0)&amp;(Resources==3))// Z_1  {    status=6;    Car_CLOCKWISE(Car_Speed_Turn);// Turn left    SysTick_Delay_Ms(1700);    Resources=4;  }    if((LED_1==0)&amp;(LED_2==0)&amp;(LED_3==0)&amp;(LED_4==0)&amp;(LED_5==0)&amp;(Resources==2))// Second respawn point  {    status=6;    Car_Fore(30);// Go straight through    SysTick_Delay_Ms(1500);    Resources=3;  }    if((LED_1==0)&amp;(LED_2==0)&amp;(LED_3==0)&amp;(LED_4==0)&amp;(LED_5==0)&amp;(Resources==1))// First respawn point  {    status=5;    Car_Fore(30);// Go straight through    SysTick_Delay_Ms(1700);    Resources=2;  }    if((LED_1==0)&amp;(LED_2==0)&amp;(LED_3==0)&amp;(LED_4==0)&amp;(LED_5==0)&amp;(Resources==0))// T-junction  {    status=4;    Car_Fore(30);// Go straight for a while    SysTick_Delay_Ms(400);    Car_ANTICLOCKWISE(50);// Turn left for a while    SysTick_Delay_Ms(900);    Car_Fore(30);// Go straight for a while    SysTick_Delay_Ms(1000);    Resources=1;  }    printf("status=%d Resources=%d\n",status,Resources);}

# Problems and Improvements #

Current problems:

1) Battery capacity is too small, during debugging, the power supply voltage drops significantly after a while, causing parameter changes, which is very inconvenient.

2) The overall weight of the vehicle is too heavy, making it very difficult to go uphill.

3) The infrared module is greatly affected by light, making the overall system unstable.

Points for improvement:

1. The motor’s encoder module is not used, and the motor has no closed-loop control.

2. If a camera can be used for line following, then the entire system will be more stable.

If you are interested in the project above, you can communicate on the blog: https://blog.csdn.net/weixin_46209140/article/details/110679073

END

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