基于STM32的智能草坪修剪机器人设计  

Design of Intelligent Lawn Mowing Robot Based on STM32

作　　者：宋黎明 马福贵 Song Liming;Ma Fugui(Robot School,Luoyang Institute of Science and Technology,Luoyang,Henan 471023,China)

机构地区：[1]洛阳理工学院机器人学院,河南洛阳471023

出　　处：《机电工程技术》2020年第10期141-143,共3页Mechanical & Electrical Engineering Technology

基　　金：洛阳理工学院河南省教育厅预研项目(编号:2018YZ01);天津市轻工与食品工程机械装备集成设计与在线监控重点实验室开放基金项目(编号:2019 LIMFE06)。

摘　　要：为了实现草坪修剪的自动化,降低噪声污染,提高工作效率,将机器人技术引入到草坪修剪装备的设计上,采用四轮移动式的本体结构和三角布局的修剪刀具形式。控制系统中选用单片机为控制核心,提出了与环境识别、信号传递、执行和反馈等环节相适应的功能要求和性能参数,同时,结合多传感器融合的双闭环PID控制算法实现轨迹跟踪,采用往复式全区域覆盖遍历路径规划,进而实现机器人的整体设计,最终通过调试使机器人达到设计要求。结果表明,设计的机器人修剪机构能够完成草坪修剪,测试结果与设计预期相吻合,修剪效率达到6.04㎡/min,效率大大提高。该研究为割草机器人刀具设计提供了新的思路,为农业机器人设计提供一定的参考价值。In order to realize the automation of lawn mowing, reduce noise pollution and improve work efficiency, the robot technology was introduced into the design of lawn mowing equipment, which adopted the four-wheel mobile body structure and triangle layout of mowing tools. In the control system, the single-chip microcomputer was selected as the control core, and the functional requirements and performance parameters suitable for the environmental identification, signal transmission, implementation and feedback were proposed. At the same time, the track tracking was realized by combining the dual closed-loop PID control algorithm of multi-sensor fusion, and the path planning of reciprocating full area coverage traversal was adopted to realize the overall design of the robot. The robot was debugged to meet the design requirements. The results show that the robot pruning mechanism can complete lawn pruning, the test results are consistent with the design expectations, the pruning efficiency reaches 6.04 m^2/min, and the efficiency is greatly improved. This research provides a new idea for cutting tool design of mowing robot and a certain reference value for agricultural robot design.

关 键 词：结构设计 修剪刀具 路径规划 双闭环PID控制 草坪修剪机器人 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]