The Structure Improvement And Intelligent Control Design Of The Autonomous Mowing Robot

With the development of science and technology and economy,the quality of the people's life is constantly improving,and Chinese society has begun to enter into a modernized society that emphasizes the dual pursuit of materialism.As the United States began the development of garden machinery in the 1990s,mowing robots will be widely used in different places and in different fields in the future.Although there are many research institutes and enterprises in China currently developing and researching mowing robots,the overall level is not high and many details need to be improved and studied urgently.In this paper,the user needs as the first starting point to improve the function of autonomous mowing robot as the goal,the independent mowing robot mechanical structure,control system,path planning and other aspects of in-depth research and development.First of all,after analyzing the advantages and disadvantages of the common mowing robot both here and abroad,the requirements of autonomous mowing robot body design were clarified.The kinematics and dynamics model of autonomous mowing robot was established and its structure was detailed,divides them into four modules:mobile body structure,mowing mechanism,collision detection device and electrical device structure.According to the characteristics of each module,the related researches and analyzes are given,and a set of reasonable and feasible schemes,verified by finite element method.In the collision detection module,a set of innovative devices designed to detect obstacle in the forward direction of autonomous mowing robots has been saved,which saves the cost of some sensors and improves the integration.Secondly,according to the demand of the mainstream control system in the market,the author analyzes the operation of autonomous mowing robot,compares the advantages and disadvantages of MCU and PLC,and determines control program of the autonomous mowing robot,Divides the whole control system into four parts:drive system,multivariate sensor system,man-machine interface and path planning.On this basis,starting from the hardware and software,The general functionality of an autonomous mowing robot simplifies and automates the control of autonomous mowing robots.Then,taking Xiamen CaiMore BD-GPS as an example,the principle of GPS-related work is studied,and several global path planning modes covering the working area of the autonomous mowing robot are analyzed.Free GPS communication with the host computer is proposed Algorithm and the path tracking method based on industrial grade GPS to improve the GPS application in the field of autonomous mowing robot.Finally,making a prototype and conducting experiments and analysis,and the theory formed a comparative study.Through the self-propelled lawn mower human stability vibration test,it proves the stability of the autonomous mowing robot during normal operation.The general function test and analysis of autonomous mowing robot were carried out to evaluate the operation of mobile body structure,mowing mechanism and collision detection device,which laid a good foundation for future product improvement iteration.