The Control Of Lake Cleaning Intelligent Robot

The robot is one of the human being's great inventions in 20th century. As a human being's new implement of production, it shows a tremendous superiority in reducing the labor intensity, raising the productivity, improving the pattern of production, liberating the human from dangerous and abominable environment and so on. The lake cleaning intelligent robot is a kind of pro-environment equipment that can discovers and cleans afloat pollutant by itself. The control system is one of the key components which influences robot's function. It influences the development of robot to some extent. Therefore, on the base of analyzing the demand of the control system, this paper presents the design and the realization of the control system of the intelligent robot in detail.Firstly, the control system's design based on TMS320LF2407A DSP is introduced as a whole. Then this paper shows the design of the peripheral circuit for DSP, including the change-over circuit for electrical level of the control system, the DSP interface circuit for system simulation, the circuit of DSP extended-memory, the DSP interface circuit for serial communication and so on. Also it introduces the realization of electric machine control with emphasis and analyzes the problems should pay attentions to which in the designing of DSP system.On aspect of software, the program used for the electric machine control is compiled in Compile-language and C-language under the Code Composer Studio which supplied by the TI Company. Through this program, this paper analyzes the production of the control system's PWM signal, the speed control and so on, and it shows the approach and course of the garbage collection which realized by the robot in detail.Finally, an experiment system has been built to validate the circuit of control system and the software for the intelligence robot.