拱腰式农业机器人底盘控制系统设计与试验  

Design and experiment of chassis control system for arched waist agricultural robot

作　　者：李才敏 聂建军[1] 夏孔涛 解晓琳 LI Caimin;NIE Jianjun;XIA Kongtao;XIE Xiaolin(School of Intelligent Mechatronics Engineering,Zhongyuan University of Technology,Zhengzhou 450007,China;College of Agricultural Equipment Engineering,Henan University of Science and Technology,Luoyang 471000,China)

机构地区：[1]中原工学院智能机电工程学院,河南郑州450007 [2]河南科技大学农业装备工程学院,河南洛阳471000

出　　处：《中原工学院学报》2025年第1期12-19,共8页Journal of Zhongyuan University of Technology

基　　金：“十四五”国家重点研发计划重点项目(2022YFD2001300)。

摘　　要：针对常规机械在丘陵山区自动化程度低的问题,设计了一种拱腰式农业机器人底盘控制系统.该控制系统以STC32G12K128为主控芯片,利用SBUS协议与遥控器接收机进行数据交互,主控芯片再通过RS485通信控制机器人的换挡、转向、机具升降等.通过样机对该机器人的变速箱换挡控制系统、转向、动力性等进行了试验.结果表明:该机器人具有一定的重载作业能力,其右转最小转弯半径平均值为806mm,左转最小转弯半径平均值为804mm,最大越障高度为224.3mm,最大开沟深度为220mm、宽为350mm;该机器人的变速箱换挡控制系统能快速、准确地响应遥控器的操作,可以满足大部分农田作业的需求.To address the low automation of conventional machinery in hilly and mountainous areas,an arched waist agricultural robot chassis control system was designed.The control system takes STC32G12K128 as the main control chip,and uses SBUS protocol to conduct data interaction with the remote control receiver,the main control chip then controls the robot's shift,steering,machine lifting and so on through RS458 communication.The transmission shift control system,steering and power performance of the robot are tested by the prototype.The result shows that the robot has a certain ability of heavy load operation.The average minimum turning radius of right turn is 806 mm,and the average minimum turning radius of left turn is 804 mm.The maximum obstacle height is 224.3 mm.The maximum ditching depth is 220 mm and the width is 350 mm.Additionally,the gear shift control system of the robot can respond quickly and accurately to the operation of the remote controller,which can meet the needs of most farmland operations.

关 键 词：机器人底盘 控制系统 遥控 变速箱控制 

分 类 号：S232.3[农业科学—农业机械化工程]