一种小型智能割草机器人的设计与实现

Design and Implementation of A Small Intelligent Mowing Robot

针对传统割草机污染高、噪音大和需要人工长时间操作等弊端,结合市场需求,研制了一款小型的可预约工作、自主回充的智能割草机器人。硬件上,系统以STM32为核心,由控制系统、动力系统、传感系统、通信系统和人机交互系统5部分组成;算法和软件上,采用自主回充方案,实现预约模式下机器人多次工作,减少人工操作;为解决机器人在斜坡上无法直线行进问题,设计了一种坡度补偿算法;同时为提高机器人的割草效率,提出了一种自主寻草算法。系统符合国际安全设计指标,经过长时间测试,机器在预约模式、自主回充模式均能稳定可靠的工作。

For the traditional mower pollution,high noise and the need for long artificial operation etc,combined with market demand,develop a small intelligent mowing robot that can make an appointment to work and independent recharge.On hardware,the system is composed of STM32,which consists of a control system,a power system,a sensor system,a communication system and an interactive system;On algorithms and software,Using the self-recharging scheme,the robot can work many times under the reservation mode and reduce the manual operation.In order to solve the robot in slope is incapable of straight line,a slope compensation algorithm is proposed in this paper.To improve the efficiency of robots,an algorithm of self-seeking grass is proposed.System design conforms to the international safety design index,after a long time to test,the machine can work stable and reliable in the reservation mode,self-charging mode and searching grass mode