【摘要】 【目的】为降低人工植树成本，提高大规模植树的效率和自动化程度，设计了一种可自动化作业的智能植树机器人。【方法】以STM32单片机为控制核心，设计了系统硬件电路，包括土壤温湿度和姿态传感器单元、超声波避障单元、驱动电机和多级舵机机械臂的作业执行机构、显示单元及混合能源管理单元；软件设计则在Keil开发环境下，利用C语言进行编程。【结果】测试结果表明，机器人可按照规划路径通过超声波测距自动避障到达指定位置。通过传感器将环境监测数据传至主控单元，由其发出控制命令，使机器人通过执行机构进行钻孔、取苗、放置、覆土、喷灌等全流程自动化植树作业，且在OLED显示屏上直观地显示植树间隔及环境信息等。【结论】该设计具有低功耗、智能化特点，且基于太阳能发电板、压电发电组件及蓄电池的混合式供电方式，在提高系统续航能力的同时，又符合节能减排要求。更多还原

【Abstract】 [Purposes] In order to reduce the cost of artificial tree planting and improve the efficiency and automation of large-scale tree planting, an intelligent tree planting robot capable of automatic operation was designed and fabricated. [Methods] Taking the STM32 single-chip microcomputer as the control core, the system hardware circuit was designed, including the soil temperature and humidity and attitude sensor unit, the ultrasonic obstacle avoidance unit, the operation execution mechanism of the drive motor and multi-joint servo mechanical arm, the display unit and the hybrid energy management unit. Software programming is carried out using the C language in the Keil development environment.[Findings] The test results show that the robot can automatically avoid obstacles and reach the designated location along the planned path through ultrasonic ranging along the planned path. The environmental monitoring data is transmitted back to the main control unit through sensors, which issues commands to control the actuator to enable the robot to perform the entire process of automated tree-planting operations such as drilling, picking up seedlings, placing them, covering the soil, and sprinkling irrigation. Moreover, the display screen can visually show the tree-planting intervals and environmental information, etc.[Conclusions] The design has the characteristics of low power consumption and intelligence. Moreover, based on based on the hybrid power supply mode of solar power generation panel, piezoelectric power generation module and battery, it not only improves the endurance of the system but also meets the requirements of energy saving and emission reduction.更多还原