Design And Realization Of Intelligen Flat Grain Robot

At present,mobile robots have been widely used in military,industrial and agricultural,service,medical and education fields,which replaced many people from dangerous,repetitive and heavy tasks,but in the field of food storage,the advantages of robots have not been fully recognized.It is shown that most of the current work in the food storage process is done manually,and the workers work inefficiently and have to work in the dangerous environment,so the research of a flat grain robot has important application value.This paper proposes a kind of robot that consists of two omnidirectional wheel mobile robots and a mechanism used to flat the grain.The kinematics model of the robot was established,and its feasibility was verified by simulation based on Simulink.On this basis,the PCB and software of the control system were completed.The specific contents of the thesis are as follows: Firstly,this paper studies the development of grain flatting robot at home and abroad,the theory of Robot Cooperative Control and visual navigation was introduced.Then,this thesis presents a robot which can finish flatting grain,including its navigation method and communication method,and the kinematic model was verified.Then an image processing algorithm based on special value of threshold is proposed.This method enables the camera to change the set threshold according to the lighting conditions of the scene environment,making the binarization result more stable under the changing lighting conditions.Finally,in order to verify the feasibility of the dual-robot cooperation to push the grain flatting mechanism,this thesis established a kinematics model of dual-robot cooperative to pushing an object,and the control method of the motor was optimized based on the Kalman filtering method.The angle data measured by the gyroscope and the camera were comprehensively utilized to get a better value.Digital simulation based on MATALAB software verified the feasibility of the above method.Based on the theoretical analysis,this thesis designs a flat grain robot controller with the STM32 embedded chip,programming in keil to achieve the function of flatting grain.Multiple tests in the granary have proved that the flat grain robot is efficient.