Research And Development Of Mowing Robot

With the acceleration of urbanization in China,the area of urban lawn is increasing,including urban green lawn,football field and golf course.Lawn improves the urban environment,but its maintenance operation consumes a lot of manpower and material resources,and the maintenance process also produces noise and waste gas pollution.Therefore,it is necessary and market-effective to develop a lawn mowing robot to replace manual lawn mowing.In addition,the mowing robot works in the open unstructured space,and how to realize the movement of the robot in the unstructured space is an important topic of today's robot research,so the development of the mowing robot has certain academic value.In this paper,the current research status of mowing robot is introduced and analyzed.On the basis of traditional mowing robot technology,the key mechanical structure and control system are improved and designed,and a complete design scheme of mowing robot is obtained.For the part of mechanical structure design,the body structure of the mower robot is chosen as the four-wheel structure of the front two guide wheels and the rear two driving wheels.Then the mowing structure and the driving mechanism are designed,and the mechanical structure design scheme of the mowing robot is finally determined.In order to reduce the cost of the robot and simplify the structure of the robot,a lifting mechanism of the mower cutter is designed in this paper.In order to improve the working safety of the robot,a kind of overturning stop mechanism is designed in this paper.For the part of control system design,the motion model of mowing robot is analyzed and the mathematical model of mowing robot motion is obtained.Then,the positioning and navigation methods of the mower robot are determined through the research on the positioning method of the outdoor robot.Finally,according to the control method of the whole robot,the sensor system is selected.In order to improve the positioning accuracy of the robot,Kalman filtering algorithm is used to fuse the odometer data,IMU(Inertial Measurement Module)and GPS data of the robot.In order to reduce the cost of the robot and save the space inside the machine,a motion controller is designed in this paper.