The Design And Research Of Autonomous Grassland Dressing

Although in our country there are many scientific research institutes and some enterprises do the research of mower robots, but the overall level is still in its primary stage, fully market-oriented high intelligent mowing robot products haven’t appeared. In this paper, for the purpose of develop high-performance products to adapt to the market demand, we do some thorough research on mowing robot of overall structure, mechanical, electrical and mechanical control and so on.First of all, this paper introduces and analysis the existing automated mower on foreign markets, has been clear about the basic composition of mowing robot system, points out the key technology in the process of development the mower robots. Combining the successful experience of foreign and domestic actual demand, put forward the overall scheme and technical parameters and should achieve the function of the mowing robot.Secondly, do the mechanical structure design according to the structural characteristics of the mowing robot.Using a wheeled robot kinematics and dynamics model, determine the mowing robot’s driving scheme and the structure of car body, and on this basis, determine of the drive motor parameters and selection of the motor; According to the characteristics of the mowing work independently, choice the ways of mowing the lawn, and design a set of lawn mower and mowing height adjustment system; In order to save cost and improve the level of integration, design a six direction collision detection mounting bracket which creatively, which can Collision the detection of six direction.Then, according to the requirement of the control system, combining the thought of cost savings, determines the STM32 series MCU development board as the core of the mowing robot control scheme, divide the control system of mowing robot to motor drive module, motor control module and sensor module and so on several parts, design the circuit of motor drives and motors as well as the main controller, complete the drive motor control program development.Finally, do the prototype experiments and analysis, mainly including walking module, grass cutting module, mowing height adjustment module and collision detection module, provide the basis for further research in the future.