Design and Realization of Simple Intelligent Robotic Lawn Mower Based on Arduino Mega2560  

基于Arduino Mega2560单片机的简易智能割草机器人的设计与实现(英文)

作　　者：刘南君[1] 毛培宏[1] 

机构地区：[1]新疆大学物理科学与技术学院离子束生物柳钢技术中心,新疆乌鲁木齐830046

出　　处：《Agricultural Science & Technology》2013年第1期162-165,共4页农业科学与技术（英文版）

基　　金：Supported by National Natural Science Foundation of China (11275164)~~

摘　　要：Robotic lawn mowers available in markets are much more complicated with high cost, hence, a new robot is designed in the research. In detail, the control system is made up of Arduino Mega2560 and 11 sensors and the robot works with four wheels （two front and back wheels） driven by an electric motor. Furthermore, the platform of lawn-mowing is designed semicircle, equipped with three small high- speed and low-power electric motors; the cutting distance is determined by width of motherboard. In addition, the hardware of the system is made up of circuit control and working machines, of which the former includes a single chip unit, a wireless remote control, a sensor unit, an infrared array module, a driving module of electric motor, a display unit and a power source; the latter includes a mowing platform and a sensor window. In addition, the related software is programmed using C language and modular programming involving PWM program, Hall sensor program, liquid-crys- tal display, tilt program, supersonic sounding program, infrared obstacle-avoidance program, parking program, and remote control program. After hardware was adjust- ed, the robotic lawn mower was tested for multiple times in a standard lawn, and a satisfied effect was achieved.针对目前市场上割草机器人系统结构复杂、成本过高的现状 , 基于Arduino Mega2560 单片机为基础配置 11 个传感器搭建割草机器人的控制系统, 采用 4 轮小车模型,前面和后面均为 2 个驱动轮,驱动轮均采用1个大扭力电机单独驱动,割草平台设计成半圆环型, 并安装 3 个低功耗高速小电机,割距为机器人底盘宽度。系统组件由电路控制部分和机械运作部分组成。电路控制部分为 8个单元:单片机单元、无线遥控单元、传感器单元、防倾倒单元、红外阵列模块、电机驱动单元、显示单元和电源单元;机械运作部分包括割草平台和感光窗。其配套软件为 C 语言编写,采用模块化编程,主要包括 PWM 调速程序、霍尔传感器测距程序、液晶显示程序、倾角处理程序、超声测距程序、红外避障处理程序、停车处理程序、遥控程序等程序模块。经硬件调试后,该系统在标准的草坪上进行了多次测试,达到了预期的设计目的和使用效果。

关 键 词：Arduino Mega2560 Path planning Intelligent obstacle-avoidance Gamutcoverage 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]