草莓采摘机器人行走控制系统的设计与实现

Design and implementation of walking control system for strawberry picking robot

针对草莓种植基地人工采摘效率低下的问题,设计了一种差速运动的草莓采摘机器人行走控制系统。本文聚焦于草莓采摘机器人的设计需求,首先对移动底盘的运动学进行深入研究和分析。随后,设计了草莓采摘机器人行走控制系统的硬件和软件部分。在硬件方面,选用了以32位ARM单片机为核心的主控制器,同时整合了电源电路、超声波测距单元以及电机驱动模块等关键部件。而在软件方面,采用了CANOPEN协议,将其移植到了单片机上,并在UCOSII实时操作系统的基础上进行了调试。此外,还设计了PID控制策略,为机器人的精准控制提供支持。这一综合方案极大地提升了草莓采摘的效率,为农业机器人领域的发展提供了有力支持。通过本文所提出的草莓采摘机器人控制系统,有望在农业现代化进程中取得更为广泛的应用,进一步推动农业产业的发展和升级。

In response to the low efficiency of manual picking in strawberry planting bases,this paper designs a differential motion walking control system for strawberry picking robots.With focuses on the design requirements of strawberry picking robots,this studyhas conducted an in-depth research and analysis on the kinematics of the mobile chassis.Subsequently,the hardware and software parts of the walking control system for the strawberry picking robot was designed.In terms of hardware,we have selected a main controller with a 32-bit ARM microcontroller as the core,while integrating key components such as power circuit,ultrasonic distance measurement unit and motor drive module.In terms of software,we adopted the CANOPEN protocol,ported it to the microcontroller,and debugged it on the basis of the UCOSII real-time operating system.In addition,we have designed a PID control strategy to provide support for precise control of robots.This comprehensive solution greatly improved the efficiency of strawberry picking and provided strong support for the development of agricultural robotics.With the control system of the strawberry picking robot proposed in this article,more widespread robot application is expected to achieve in the process of agricultural modernization,so as to further promote the development and upgrading of the agricultural industry.