“机电一体化”课程移动机器人协作实验平台搭建与探索  

Construction and exploration of mobile robot cooperative experimental platform in "Mechatronics" course

作　　者：李海芸[1,2] 叶大鹏 邱荣斌[1,2] 陈志伟 LI Haiyun;YE Dapeng;QIU Rongbin;CHEN Zhiwei(College of Mechanical and Electronic Engineering,Fujian Agriculture and Forestry University,Fuzhou 350002,China;Fujian University Engineering Research Center for Modern Agricultural Equipment,Fuzhou 350002,China)

机构地区：[1]福建农林大学机电工程学院,福建福州350002 [2]现代农业装备福建省高校工程研究中心,福建福州350002

出　　处：《现代电子技术》2019年第15期150-153,156,共5页Modern Electronics Technique

基　　金：教育部“新工科”研究与实践项目:农工交叉融合的农业工程类人才培养模式探索与实践;福建省自然科学基金:双臂机器人协调操作闭链系统动力学分析与控制研究(2016J05110);福建农林大学校级教改项目(111416169);福建省高峰高原学科项目(712018014)~~

摘　　要：为改善现有实验平台实验项目综合性不强等问题,满足理论与实际应用相结合的实验教学及科研的要求,研制移动机器人协作实验平台。以牧草捡拾堆垛协作机器人为载体,采用机电一体化设计理念和模块化设计思想,以STM32为控制系统核心,结合光电传感技术和多传感器融合技术确保机器人行进路径及检测结果的精准性。学生可以灵活重组不同功能模块,完善软件编程,完成多个捡拾堆垛目标、多种路径控制综合实验。此外,在改善牧草业领域人工捡拾堆垛牧草劳动强度大的现状,提高牧草捡拾的生产效率及经济效益方面具有一定的实际应用价值。In order to improve project comprehensiveness of experimental platform,and satisfy requirements combining the theory with practical application for teaching and scientific research,a kind of mobile robot cooperative experiment platform was developed.Based on the hay bales pickup and palletizing robot as the carrier,the mechatronics design concept and modular design idea are adopted.The STM32 is taken the core of the control system of the platform.The photoelectric sensor technology and multi-sensor fusion technology are used to ensure the accuracy of the robot's travel path and detection results.The students can flexibly reconfigure different functional modules,improve software programming,and accomplish multiple hay bales pickup,palletizing target and multiple path control comprehensive experiments.In addition,it has a certain practical application ability in the aspects of reducing the current labor intensity of stacking pastures in the forage grass industry,and improving the production efficiency and economic benefits of pasture picking.

关 键 词：模块化设计 机电一体化 机器人 路径规划 实验平台 机器视觉识别 

分 类 号：TN99-34[电子电信—信号与信息处理] TP24[电子电信—信息与通信工程]