【作者】 金立刚；

【导师】 丛明；

【作者基本信息】 大连理工大学 ， 机械设计及理论， 2006， 硕士

【摘要】 随着经济的发展，城市绿化进程逐渐加快，因此也带动了草坪业的迅猛发展，每年对城市草坪、足球场、高尔夫球场等公共绿地进行修剪和维护作业需要消耗掉大量的时间、资本和人力，并且在使用传统割草机对草坪进行修剪时，还会带来噪声和废气等污染，这将严重影响从业人员的身心健康，因此有必要研制一种自动割草机器人，用于实现草坪修剪作业的自动化，将劳动力从高重复、枯燥、劳累的割草作业中解放出来。 本文首先对国外市场上现存的自动割草机器人进行了介绍和比较，指出了现在自动割草机器人研制过程中需要注意的关键技术，并结合以往的成功经验和现在的实际需求，选择了结构易于实现的三轮车体结构。根据自动割草机器人控制系统要求，确定了以单片机为核心的自动割草机器人控制方案，将自动割草机器人的控制系统划分成了电机驱动单元、电机控制单元和传感单元等几个部分，最终确定了自动割草机器人的技术指标。 针对上述要求，进行了自动割草机器人机械本体的设计。首先，建立了自动割草机器人的运动学和动力学模型，并根据相关的计算确定了所需驱动电机的参数，并以此为基础进行了电机选型。然后根据选择的电机情况为自动割草机器人设计了驱动系统的减速箱。最后，结合自动割草机器人的任务特点，为其设计了特制的割草机构。 控制系统是实现自动割草机器人自主执行割草任务的关键部分，根据具体的任务要求，结合低成本的思想，确定了为电机控制和传感系统分别设置独立处理芯片的策略，控制系统首先对各个传感器件发送的环境信号进行预处理，再为自动割草机器人的运动控制反馈合适的环境信息。然后电机控制单元结合发送的信号对自动割草机器人进行相应的运动调节。 最后，详细说明了自动割草机器人区域充满路径规划算法，结合自动割草机器人的工作特点，对区域充满检测标准、工作区域划分、子区域遍历和工作区间遍历等相关问题进行了讨论。更多还原

【Abstract】 Economic development in recent years promotes urban greening process rapidly, which accelerates the progress of lawn industry. Every year, it will consume lots of resources to maintain those public area lawns such as grassy in cities, football curt, and golf yard. Further more, those traditional lawn mowers will also bring noise and exhaust air pollution, which have a serious impact on the physical and mental health of workers. In order to liberate labors from high repetition, boring, tiring mowing work, it is necessary to develop a kind of autonomous robot lawn mower.This paper first introduces and compares existing mower robots, point out the key technologies and the successful experience for autonomous robot lawn mower development, chose a simple tricycle structure. According to the needs of autonomous robot lawn mower control system, selected a single chip as the core controller for robot motion control, and divides the total control system into Motor Drive Unit, Motor controller and Sensor System.In response to these requests above, scheme out the mechanical framework of autonomous robot lawn mower. First, establish the kinematics and dynamics model of autonomous robot lawn mower, confirm the driving motor parameters by corresponding calculation, and use those parameters as the basis select the driving motors. Second, based on the selected driving motors, design a gear box for the autonomous robot lawn mower. Finally, design a special adjustable cutting mechanism for the robot according to its lawn trimming task.For implement of its lawn mowing tasks, the robot’s control system is a critical part, in accordance with the specific requirements, and low down its cost as much as possible, decide a strategy that setting up of an independent chip for the motor control and sensor system respectively. Sensor system’s controller make necessary pre process for the environment signals first, feedback appropriate environmental information to autonomous robot lawn mower, then motor control unit send corresponding signals to adjust the robot’s movement.At the end of this paper, give a detailed description of the complete coverage path planning algorithm, and region coverage testing standards, work area division, sub-regional traversal and other related issues were discussed.更多还原