果园机器人智能控制系统设计  

Design of Intelligent Control System for Orchard Robot

作　　者：李卫鹏 古丽巴哈尔·托乎提[1] 买买提明·艾尼[1] 加合甫·阿汗 LI Wei-peng;Gubahar Tohti;Mgheni;Jiahefuahan(School of Mechanical Engineering Xinjiang University,Xinjiang Urumqi 830000,China)

机构地区：[1]新疆大学机械工程学院,新疆乌鲁木齐830000

出　　处：《机械设计与制造》2023年第10期233-236,241,共5页Machinery Design & Manufacture

基　　金：国家级创业训练项目(202010755013X)。

摘　　要：为了提高农业机械的自主作业能力,减轻农民劳动负担。为此,设计了一种利用单片机控制的智能机器人控制系统。装载了一款超声波传感器提高了机器人的自动避障能力,使用红外遥控器技术控制机器人,可对机器人的行走方式控制的更加灵活自如,开发了微信小程序,可用手机蓝牙与机器人搭载的蓝牙进行配对,来实现利用手机对机器人的远程控制能力,并将采集到的传感器测量距离在手机界面上实时显示出来。在实验室内对机器人的控制性能进行了测试,结果表明:利用超声波传感器可精准实现机器人对障碍物的躲避,使得机器人安全、高效地进行作业,测量精度高、误差较小。In order to improve the autonomous operation ability of agricultural machinery and reduce the labor burden of farmers,an intelligent robot control system controlled by single chip microcomputer is designed.An ultrasonic sensor is installed to improve the robot’s automatic obstacle avoidance ability.The infrared remote control technology is used to control the robot,which can control the robot’swalking mode more flexibly.A wechat small program is developed,which can pair the Bluetooth carried by the mobile phone and the Bluetooth carried by the robot,so as to realize the remote control ability of the robot by using the mobile phone,and the collected sensors The measured distance is displayed on the mobile phone interface in real time.The control perfor-mance of the robot is tested in the laboratory.The results show that the robot can avoid obstacles accurately by using ultrasonic sensor,which makes the robot work safely and efficiently with high measurement accuracy and small error.

关 键 词：STM32 超声波传感器 红外遥控器 蓝牙 微信小程序 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]