“机电一体化”课程移动机器人协作实验平台搭建与探索

Construction and exploration of mobile robot cooperative experimental platform in "Mechatronics" course

为改善现有实验平台实验项目综合性不强等问题,满足理论与实际应用相结合的实验教学及科研的要求,研制移动机器人协作实验平台。以牧草捡拾堆垛协作机器人为载体,采用机电一体化设计理念和模块化设计思想,以STM32为控制系统核心,结合光电传感技术和多传感器融合技术确保机器人行进路径及检测结果的精准性。学生可以灵活重组不同功能模块,完善软件编程,完成多个捡拾堆垛目标、多种路径控制综合实验。此外,在改善牧草业领域人工捡拾堆垛牧草劳动强度大的现状,提高牧草捡拾的生产效率及经济效益方面具有一定的实际应用价值。

In order to improve project comprehensiveness of experimental platform,and satisfy requirements combining the theory with practical application for teaching and scientific research,a kind of mobile robot cooperative experiment platform was developed.Based on the hay bales pickup and palletizing robot as the carrier,the mechatronics design concept and modular design idea are adopted.The STM32 is taken the core of the control system of the platform.The photoelectric sensor technology and multi-sensor fusion technology are used to ensure the accuracy of the robot's travel path and detection results.The students can flexibly reconfigure different functional modules,improve software programming,and accomplish multiple hay bales pickup,palletizing target and multiple path control comprehensive experiments.In addition,it has a certain practical application ability in the aspects of reducing the current labor intensity of stacking pastures in the forage grass industry,and improving the production efficiency and economic benefits of pasture picking.