基于Arduino Mega2560单片机的简易智能割草机器人的设计与实现

Design of Simple Intelligent Grass-cutting Robot based on Arduino Mega2560

针对目前市场上割草机器人系统结构复杂、成本过高的现状,基于Arduino Mega2560单片机为基础配置11个传感器搭建割草机器人的控制系统,采用4轮小车模型,前面和后面均为2个驱动轮,驱动轮均采用1个大扭力电机单独驱动,割草平台设计成半圆环型,并安装3个低功耗高速小电机,割距为机器人底盘宽度。系统组件由电路控制部分和机械运作部分组成。电路控制部分为8个单元:单片机单元、无线遥控单元、传感器单元、防倾倒单元、红外阵列模块、电机驱动单元、显示单元和电源单元;机械运作部分包括割草平台和感光窗。其配套软件为C语言编写,采用模块化编程,主要包括PWM调速程序、霍尔传感器测距程序、液晶显示程序、倾角处理程序、超声测距程序、红外避障处理程序、停车处理程序、遥控程序等程序模块。经硬件调试后,该系统在标准的草坪上进行了多次测试,达到了预期的设计目的和使用效果。

Considering the complicated and high-cost lawn-mowing robot available in markets,a new robot is designed based on single chip（Arduino Mega2560） and 11 transducers.It is a four-wheeled car and the driving wheels are controlled by electrical machines respectively.The platform of lawn-mowing is designed semicircle,equipped with three small high-speed electric machines at low-power dissipation.The cutting distance is determined by width of chassis and the hardware of the system is made up of circuit control and working machines.The former includes single chip unit,wireless remote control,transducer unit,infrared array module,motor driving module,display unit and power source.The latter includes mowing platform and sensor window.The related software is programmed using C language,including PWM program,Hall sensor program,liquid-crystal display,dip-angle program,supersonic sounding program,infrared obstacle-avoidance program,parking program,and remote control program.After hardware adjusted,the robot was tested for multiple times,and a satisfied effect was achieved.