基于单片机的温室大棚智能清洁机设计

Intelligent Cleaner for Greenhouse Based on Single Chip Microcomputer

设计了一款温室大棚智能清洁机,实现温室大棚顶部的半自动或全自动清洁。该清洁机采用3轮行走装置,主轮驱动电机采用脉宽调制技术调速,经过增量式光电编码器测速,由单片机实现PID控制。同时单片机还提供吸尘电机和毛刷电机的驱动信号,使清洁机在行走过程中完成清扫和吸尘工作。清洁机控制系统内部嵌有路径规划算法,使清洁机在工作区域内按直线往复运行方式移动,从而实现高覆盖、低重复的清扫。此外,清洁机可由遥控器控制。

A kind of intelligent cleaner for greenhouse has been designed, and it can realize automatic or full - automatic cleaning. This cleaner chooses tricycle running device, the driver motor adopts PWM timing. Based on the speed of the wheels which are detected by the incremental photo- electric encoder, PID control of the driver motor is carried out by the MCU. Meanwhile, MCU provides the driving signals for the suction motor and brush motor, and makes the cleaner complete the sweeping and sucking work during running. Path planning algorithm is embedded in control system of the cleaner, in the working area, the cleaner moves according to the beeline to- and- fro mode, and achieves sweeping of high mantling and low repeating. Furthermore, the cleaner can be controlled by the remote device.