摘 要

随着信息化技术的飞速发展，智能家居行业越来越受到关注，人们对智能家居这一概念也逐渐了解同时产生了市场需求。随着近几年国家对垃圾分类的重视，智能分类垃圾桶领域具有广阔的发展前景，同时市场上同类型产品仍未占领市场。现在国内市场上的智能分类垃圾桶主要应用于室外大型公共场所以及小区等的大型垃圾集中分类垃圾桶，室内使用的分类垃圾桶种类稀少，应用于普通家庭内使用的目前在市面上基本无法满足用户需求。本课题组旨在设计一种智能家居垃圾分类垃圾桶，本课题负责设计智能分类垃圾桶的移动定位功能，包括驱动模块软硬件设计以及手机定位APP的开发，用以解决垃圾桶移动困难及徒手操作不卫生两个问题。主要具体研究内容如下：

（1）系统硬件设计。针对设计所需要的功能模块，对硬件进行选型并校核是否符合要求。本设计以STM32F103VET6芯片作为主控中心，搭配以电机驱动模块、WiFi模块以及蜂鸣报警模块构成系统总体硬件环境。通过Proteus仿真软件对搭建好的电路进行激励波仿真，用以检测硬件环境的稳定性及可靠性，为后期软件编程提供良好的仿真实验环境。

（2）系统软件设计。主要包括电机驱动模块程序设计、WiFi模块通信程序设计、蜂鸣报警功能程序设计以及移动路径规划算法的优化。在硬件环境搭建完成后，使用Keil5编程软件进行电机驱动模块程序、WiFi模块通信程序、蜂鸣报警功能程序的编写，在编译无误后将各功能程序与硬件系统相结合，进行程序的仿真与分析。后期使用A*路径规划算法对系统的移动功能进行优化，采用Matlab软件对设计的算法进行仿真并分析。

（3）手机APP设计。确定使用智能终端对垃圾桶的移动定位进行控制，对APP开发平台进行比较及选择，选取网络通讯协议进行用户智能终端与垃圾桶之间的数据通道建立。完成手机APP的总体设计，主要包括UI界面的设计与用户功能程序的设计，将二者进行结合后打包程序，进行下载仿真。

综上，针对垃圾桶移动困难及徒手操作不卫生两个问题，本设计完成了智能家居分类垃圾桶的移动定位功能设计。通过对硬件系统的搭建、软件系统的程序编写，实现了垃圾桶的移动功能，并通过手机APP的开发实现了垃圾桶的定位功能，为后期进一步研究开发奠定了基础。

关键词：智能垃圾桶；STM32；WiFi；路径规划；APP

Abstract

With the rapid development of information technology, more and more attention has been paid to the smart home industry. People have gradually understood the concept of smart home and generated market demand. In recent years, with the national attention to garbage classification, the field of intelligent garbage can has broad prospects for development, while the same type of products in the market has not yet occupied the market. At present, the intelligent sorting garbage cans in the domestic market are mainly used in large outdoor public places and residential areas. The types of indoor sorting garbage cans are rare, which can not meet the needs of users in the market at present. The purpose of this research group is to design a kind of smart household garbage sorting bin. This research group is responsible for the design of the mobile positioning function of the smart household garbage sorting bin, including the design of hardware and software of the driver module and the development of mobile phone positioning app, to solve the two problems: the difficulty of moving the garbage can and the unsanitary operation with bare hands. The main research contents are as follows:

1. System hardware design. According to the functional modules required by the design, the hardware is selected and checked to see whether it meets the requirements. In this design, stm32f103vet6 chip is used as the main control center, combined with motor drive module, WiFi module and beep alarm module to form the overall hardware environment of the system. Through proteus simulation software to simulate the excitation wave of the built circuit, to detect the stability and reliability of the hardware environment, and provide a good simulation experimental environment for later software programming.
2. System software design. It mainly includes motor driver module programming, WiFi module communication programming, beep alarm function programming and mobile path planning algorithm optimization. After the completion of the hardware environment, use keil5 programming software to write the motor driver module program, WiFi module communication program, and buzzer alarm function program. After the compilation is correct, combine the function programs with the hardware system to carry out the program simulation and analysis. In the later stage, a * path planning algorithm is used to optimize the mobile function of the system, and MATLAB software is used to simulate and analyze the designed algorithm.
3. Mobile App Design. Determine to use intelligent terminal to control the mobile positioning of garbage can, compare and select app development platform, select network communication protocol to establish data channel between user intelligent terminal and garbage can. Complete the overall design of mobile app, mainly including the design of UI interface and the design of user function program. After combining the two, package the program and download the simulation.

To sum up, in view of the two problems of the difficulty in moving garbage cans and the unsanitary operation with bare hands, this design has completed the mobile positioning function design of smart home sorting garbage cans. Through the construction of hardware system and the programming of software system, the mobile function of garbage can is realized, and the positioning function of garbage can is realized through the development of mobile app, which lays the foundation for further research and development in the later stage.

Key Words：Smart trash can; STM32; Wi-Fi; path planning; APP

目录

第1章 绪论 1

1.1 课题研究的背景和意义 1

1.2 国内外研究现状 2

1.3 课题研究内容 3

1.4 预期目标 4

第2章 移动定位系统总体设计 6

2.1 需求分析 6

2.2 系统总体设计方案 7

第3章 系统硬件设计 10

3.1 系统硬件设计 10

3.2 硬件选型 10

3.2.1 单片机选型 10

3.2.2 驱动模块芯片选型 11

3.2.3 WiFi模块选型 11

3.2.4 直流电机选型 12

3.3 模块电路设计 13

3.3.1 驱动电机电路 13

3.3.2 WiFi电路 15

3.3.3 蜂鸣器电路 16

第4章 系统软件设计 17

4.1 开发环境的搭建及程序下载 17

4.2 驱动模块设计 17

4.2.1 坐标转换 17

4.2.2 电机驱动 18

4.2.3 蜂鸣报警 20

4.3 WiFi模块程序设计 21

4.4 路径规划算法 21

4.4.1 路径规划概述 21

4.4.2 A*路径搜索算法 21

4.4.3 基于栅格法的二维家居地图建模 24

4.4.4 仿真结果与分析 25

第5章 应用程序设计 28

5.1 Android操作系统 28

5.1.1 Android系统简介 28

5.1.2 Android系统架构 28

5.2 通讯协议 29

5.2.1 TCP/IP协议 29

5.2.2 Socket编程 30

5.3 UI界面设计及功能简介 31

5.4 程序功能设计 33

第6章 结论 35

6.1 全文总结 35

6.2 研究展望 35

参考文献 36

致谢 38

绪论

课题研究的背景和意义

智能家居最开始起源于1984年美国出现的首栋“智能型建筑”，它是联合科技公司将建筑设备信息化、整合化概念应用于美国康纳狄克州哈佛市（Hartford）的都市办公大楼（City Place Building）而得，至此拉开了全世界争相进军智能家居行业的序幕^[1,2,3]。智能家居是在家庭产品自动化、智能化的基础上通过网络按拟人化的要求而实现的一个过程或系统^[4,5,]。作为一个当今炙手可热的朝阳产业，智能家居的发展前景无可限量。随着现在移动互联网和4G/5G的飞速发展，智能家居行业的平台愈加宽广，通过互联网平台，用户可以随时随地的对家居设备进行控制并接收其信息。

智能家居的出现大大便利了用户的生活，如用户可以远程遥控住所内的智能热水器、智能电灯、智能空调等家用电器，营造一个舒适、宜居，安全的家庭生活环境。同时用户还可以通过用户终端实时获得小区公告、物业管理信息及家庭安全信息，大大节省了时间，提高了用户生活品质。虽然智能家居行业的兴起极大的便利了人们的生活，但在发展过程中也伴随着许多问题，如生成产品的质量优劣参杂、产品市场混乱、行业规范性准则的不够全面。经过课题前期的调查发现，在智能家居领域中，智能垃圾桶产品市场仍未发展全面，大多数是公用智能垃圾桶或者价格昂贵的室内垃圾桶，无法满足普通用户的需求。同时近几年国内颁布了生活垃圾分类的政策，因此选择对智能垃圾桶进行课题分析研究。