基于模拟电子的割草机器人自适应系统设计  

Design of the Adaptive System of Mowing Robot Based on Analog Electronic

作　　者：李娟[1] 秦芳[1] Li Juan;Qin Fang(Hebei Institute of Communications, Shijiazhuang 050000, China)

机构地区：[1]河北传媒学院,石家庄050000

出　　处：《农机化研究》2022年第12期239-242,共4页Journal of Agricultural Mechanization Research

基　　金：河北省体育局项目(20151025)。

摘　　要：针对割草机器人自适应性能和自动避障性能较差的问题,基于模拟电子技术对割草机器人的自适应系统进行设计。割草机器人采用模块化结构设计,主要组成包括单片机控制模块、机器人本体、传感器模块、电机驱动模块、电源模块和无线遥控模块。为提升割草机器人的自适应能力,并且能够识别障碍物和作业边界,对其进行动力学控制和边界识别方法设计,包括采用PID控制器对行驶过程进行控制、采用超声波传感器和电子篱笆传感器对障碍物和边界识别。为验证割草机器人性能,对其进行障碍物、边界检测和割草试验,结果表明:割草机器人能够达到对障碍物和边界检测的要求,且割草效果良好。Aiming at the problem of poor adaptive performance and poor automatic obstacle avoidance of mowing robot,the adaptive system of the mowing robot based on analog electronic was designed.The mowing robot was designed in modular.It was constituted of robot body,sensor module,single-chip microcomputer control module,motor drive module,power module and the wireless remote control receiving module.The dynamic air control and boundary recognition methods were designed to improve the adaptive ability and could identify the obstacle and operating boundary areas of the lawn mowing robot.It included the use of PID controller to control the driving process,and the use of ultrasonic sensors and electronic fencing sensors.To verify the performance of the mowing robot,the obstacle and boundary detection test and cutting sharing test were carried out.The test results show that the robot could meet the requirement of users.

关 键 词：割草机器人 自适应系统 模拟电子 障碍物和边界识别 动力学控制 PID控制器 

分 类 号：S817.111[农业科学—畜牧学] TP242[农业科学—畜牧兽医]