电磁诱导式喷雾机器人导航系统

Navigation System of Spraying Robot by Electromagnetic Guidance

针对喷雾机器人的工作要求,研制了电磁诱导式导航系统,系统由机械本体、电磁感应传感器、单片机控制系统和直流电机PWM驱动系统组成。机器人行走轨迹的诱导信号由埋设在田间的通有高频电流的导线产生,利用一对电磁感应传感器的信号电压差值判断机器人位置。AT 89C 52单片机根据传感器提供的信息,采用P ID算法规划行驶路径,由PWM系统驱动直流电动机完成机器人的行走。试验结果表明,10 m范围内直线导航精度±1 cm;转弯半径0.5 m时导航精度±2.5 cm。

For the sake of meeting the needs of spraying robot, navigation system by electromagnetic guidance was developed, which was composed of mechanism, electromagnetic induction sensor, single chip processor control system and DC PWM system. The guiding signal of the robot track was emitted by electrical wire with high frequency current. Signal voltage difference between a pair of electromagnetic induction sensors were adopted to judge the position of the robot. Single chip microcomputer layout the route of the robot by PID algorithm according to the information of the sensor and the robot was driven by the PWM system. The experiments showed that the navigation precision was ±1cm when the path was straight within 10m and ±2.5cm when the turning radius was 0.5 m.