摘要
依据果园喷药机器人的竞赛要求,以STC15F2K60S2单片机为控制核心,设计了竞赛机器人的机械系统和基本控制电路,包括机器人底盘系统、喷药模块、主控模块和以L298N为核心的驱动模块。然后,以步进电机控制器、丝杆滑台、循迹模块、光电开关和平面定位系统搭建了果园喷药机器人控制系统,并设计了控制算法,实现了果园喷药机器人的竞赛功能。
In accordance to the competition requirement on orchard spraying robot,this article designed a mechanical system and basic control circuit for the competition used robot based on the controlling core as STC15F2K60S2 single chip microcomputer(SCM),which includes robot chassis system,spraying system,main-control system and an motoring system cored by L298N.Additionally,loading on stepper motor controller,ball-screwed lifting platform,reflection tracing module,photoelectric switch and planar location system,the orchard spraying robot control system has been built.Moreover,the article has designed a control arithmetic based on the competition process,and implemented the competition functions of the robot.
作者
张少华
刘富
刘利
史颖刚
ZHANG Shao-hua;LIU Fu;LIU Li;SHI Ying-gang(College of Mechanical and Electronic Engineering,Northwest A&F University,Yangling 712100,China)
出处
《机械工程与自动化》
2018年第2期153-156,共4页
Mechanical Engineering & Automation
基金
西北农林科技大学教育教学改革研究项目(JY1702022)
西北农林科技大学国家级大学生创新创业训练计划项目(201710712053)
关键词
机器人竞赛
果园喷药
自动寻迹
定位系统
喷药系统
设计
robot competition
orchard spraying
automatic path finding
location system
spraying system
design
