一种小型智能割草机器人的设计与实现

针对传统割草机污染高、噪音大和需要人工长时间操作等弊端，结合市场需求，研制了一款小型的可预约工作、自主回充的智能割草机器人。硬件上，系统以STM32为核心，由控制系统、动力系统、传感系统、通信系统和人机交互系统5部分组成；算法和软件上，采用自主回充方案，实现预约模式下机器人多次工作，减少人工操作；为解决机器人在斜坡上无法直线行进问题，设计了一种坡度补偿算法；同时为提高机器人的割草效率，提出了一种自主寻草算法。系统符合国际安全设计指标，经过长时间测试，机器在预约模式、自主回充模式均能稳定可靠的工作。

Design and Implementation of A Small Intelligent Mowing Robot

For the traditional mower pollution, high noise and the need for long artificial operation etc, combined with market demand, develop a small intelligent mowing robot that can make an appointment to work and independent recharge. On hardware, the system is composed of STM32, which consists of a control system, a power system, a sensor system, a communication system and an interactive system; On algorithms and software, Using the self-recharging scheme, the robot can work many times under the reservation mode and reduce the manual operation. In order to solve the robot in slope is incapable of straight line, a slope compensation algorithm is proposed in this paper. To improve the efficiency of robots, an algorithm of self-seeking grass is proposed. System design conforms to the international safety design index, after a long time to test, the machine can work stable and reliable in the reservation mode, self-charging mode and searching grass mode.