Research On Mowing Platform Design And Motion Control Of Mowing Robot

At present,society needs more and more mowing machines,but the mowing machines in market are handwrought and gas-engine machines that have many disadvantages such as noise pollution,exhaust gas pollution and much work intensity.So it is necessary to research mowing robots to improve the mowing machines.This paper aimed at designing the mowing platform and researching the movement control system of the mowing robot.First,according to the need of the main design purpose,after researching the frame work of mobile robot platform and its drive capability,More attention was paied to design mowing platform.The parameter of the mowing platform: mowing width,400 mm;amplidyne power,90W;rotating speed,5000r/min;hight,20 ~ 90mm (stepless adjusting with screw framework);velocity of the mowing robot about,0.1m/s.Batteries offer power,less noise and no pollution.According to the working character of the mowing robot, its moving path was planned.Following with the path layout principle,the paper introduced the formula as the path choice warranty.In the local path layout,contraposing the disadvantages of the other control methods,the paper applied a new method to avoid obstacle,based on distance measure sensors and fuzzy control technology.This method turned to be feasible and flexible by examination.Through changing the parameter of the fuzzy control etc the relative position and angle between the unexpected barriers and the mowing robot could be changed in its avoiding obstacles.The precision of path tracking relies on the localization system and the path tracking method.According to the model of the driving motor,a PID controller was designed.The key function on path tracking of the mowing robot was to obtain the accurate azimuth.By using the technology of Kalman filter theory to merge redundancy angle,the mowing robot obtains more accurate azimuth.When its tracking path is a beeline,the error is less than 1.5°.The mowing robot's localization system was researched.The results of the examination were that the tracking paths'slopes were from —0.0062 to 0.0063 (The ideal slope was zero), The error was even and the error of the distance(The ideal distance was 0.4m) between every two border beelines was from— 0.059 to 0.097m).According to the mowing robot's task, appraising parameter was brought forward for its intelligentizing effect and the results of the appraising parameter were obtained by examination.