基于Arduino的水面智能垃圾清理与水样采集机器人

该文设计了一款基于Arduino的水面智能垃圾清理与水样采集机器人。该机器人是集垃圾清理、水样采集及船体控制系统于一体的新型智能船。智能船的控制系统能够实现船体和船上设施的远距离自主操作,船体状态的监控和打捞装置(仿生机械臂)的控制以及水样的实地采集。该船有自主和半自主2种模式,能够自动识别水面垃圾并按照既定轨迹进行避障行驶。整个控制系统设计分硬件和软件2部分。为了提高系统的可控性,使用LABVIEW软件设计了人机交互界面,从而实现船体发动机温度检测、船体漏水报警和系统工作模式设置。样机经过调试,表明机器人能够完成远距离高精准的垃圾清理任务,整个控制系统拥有较高的工作效率和稳定性。

Water surface intelligent garbage cleaning and water sample collection robot based on Arduino

This paper designs a water surface intelligent garbage cleaning and water sample collection robot based on Arduino.The robot is a new type of intelligent ship integrating garbage cleaning,water sample collection and hull control system.The control system of the intelligent ship can realize the remote autonomous operation of the hull and the onboard facilities,the monitoring of the hull status and the control of the fishing device(bionic robotic arm),as well as the field collection of water samples.The ship has two modes,autonomous and semi-autonomous,which can automatically identify the surface garbage and avoid obstacles according to the established trajectory.The whole control system design is divided into hardware and software two parts.In order to improve the controllability of the system,a man-machine interface is designed by using the software of LABVIEW,so as to realize hull engine temperature detection,hull leakage alarm and system working mode setting.After debugging of the prototype,the robot can complete the long-distance and high-precision garbage cleaning task,and the whole control system has high efficiency and stability.