摘 要
随着科技的提高以及人工成本的提升，水果采摘机器人对于我们的产业大国来说至关重要，我们不仅需要方便快捷的采摘速度，还需要供需平衡的市场需要，因此，水果采摘机器人也就成为我国现代产业的必需品，随着智能化的提高，我国投入的自动化成产的比例也逐步提升，在此基础上，我国水果的年产量节节攀升。现在全球的趋势是将智能机器人小型化，越来越多的资金与科研人员投入到将农业机器人产业化的领域中。作为自动化的关键部分，移动机器人平台直接关乎整个系统的运行成功率，因此对于移动机器人平台的研究越来越多。
通过对国内外移动机器人平台的借鉴与研究，本次设计使用CAD软件进行水果采摘移动机器人的二维图纸构建，以及使用Altium Designer软件对整个电路系统和模块进行了详细的原理图绘制工作，设计了长300mm、宽200mm、高140mm、离地30mm的智能水果采摘机器人。本次设计的具体情况如下：1、制定了水果采摘机器人移动平台的设计指标和要求，对小车进行改进设计，通过学习与研究，对小车的外壳进行了设计，设计内容为铝合金钢板及四根铝合金钢管支撑柱，这样的设计方案既能保证小车在不同环境下的正常工作，还能保证增强小车的美观性。2、以单片机STC89C52RC为主体，并利红外循迹模块TRCT5000作为数据的采集模块，通过控制驱动轮的差速来进行转向，实现避障和循迹路线的功能。3、使用蓝牙模可直接控制小车运动。
关键词：红外循迹；超声波避障；蓝牙控制
Design of mobile robot platform for fruit picking
Abstract
With the improvement of science and technology and the increase of labor cost, fruit picking robot is very important for our industrial country. We not only need convenient and fast picking speed, but also need the market demand of supply and demand balance. Therefore, fruit picking robot has become a necessity of China#39;s modern industry. With the improvement of mechanization, China#39;s fruit output has increased year by year, The product structure is constantly improving. Many developed countries continue to increase the intelligent and large-scale picking machine, increase the research on intelligent machinery, the traditional impression of 'stupid, big, rough' agricultural machinery is also moving towards the direction of intelligent and industrialization. Mobile robot platform is the key of agricultural automation, which directly affects robots whether able to work normally. This research on mobile platform has been paid more and more attention.
Based on the relevant research at home and abroad, and combined with the actual working environment of orchard, this paper uses CAD software to construct the two-dimensional drawing of fruit picking mobile robot, and uses Altium designer software to draw the circuit diagram, and designs an intelligent fruit picking robot with the length of 400mm, the width of 200mm, the height of 180mm and the height of 40mm above the ground. The specific situation of this design is as follows: 1. The design index and requirements of the fruit picking robot mobile platform are formulated, and the car is improved. Through learning and research, the shell of the car is designed. The design content is aluminum alloy steel plate and four aluminum alloy support columns. This design scheme can ensure the normal work of the car in different environments, It can also ensure to enhance the beauty of the car. 2. STC89C52RC is used as the control core of the whole system, ultrasonic sensor and infrared sensor are used as the data acquisition module, steering is realized by controlling the differential speed of the driving wheel, so as to achieve the function of obstacle avoidance and route tracking. 3.Bluetooth mode can be used to directly control the car movement.
Key words: infrared tracking; Ultrasonic obstacle avoidance; Bluetooth contro
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