電磁誘導(dǎo)式噴霧機(jī)器人控制系統(tǒng)的研究.pdf

1、Y774083分類號(hào)：密級(jí)：弋啜寰t夭專學(xué)位論文單位代碼：10019學(xué)號(hào)：S0269電磁誘導(dǎo)式噴霧機(jī)器人控制系統(tǒng)的研究ControllingSystemResearchofSprayingRobotGuidedbyEIectromagneticWire研究指導(dǎo)教師：韭塞塑攫合作指導(dǎo)教師：申請(qǐng)學(xué)位門類級(jí)別：王堂巫專業(yè)名稱：扭撼劍選叢墓自動(dòng)絲研究方向：徵扭數(shù)控撞丕所在學(xué)院：王堂瞳2005年3月AbstractAutomaticsprayin

2、gisakindofagriculturaladvancedtechniquedevelopingrecentlytoadapttotherequestoffacilitiesagricultureAccordingtocharacteristicsofthemediumandsmall。sizedgreenhousesinland，wedevelopedasprayingrobotguidedbyelectromagneticindu

3、cedlinetorealizeautomaticsprayingingreenhouses，especiallyachievedremotelycontrollingandmonitoringtotherobotinwirelessfrequency—modulationThecontrolsystemofsprayingrobotcomprisedthreeparts：therobot，monitorandinducedsignal

4、swishgroupTheyareconnectedtoawirelesscommunicationnetworkinthehelpofawirelessmodule，theretherobotusedthemoduletoexchangereal—timedatainthesprayingtime；allofthesetogetherfinishedfullautomaticsprayingThesprayingtasksofther

5、obotcouldbesetflexiblyandtherearethreeoperationmodes，fullautomatic，semiautomaticandmanuallyoperationtochoose，SOitCanadaottOvariousgreenhousesandallusersTherobotconsistsofsystemofsensors，MCUanddrivingsystemInthesystemofse

6、nsors，thereare8electromagneticinductionsensors，2anglesensors1positionsensoLandinterfacecircuitItisadoptedDSPchipTMS320LF2407asrobot’SMCUPDcontrolalgorithmisusedtoimplement4WADandmakeallfourwheelstracktheinductionwiresimu

7、ltaneouslyWiththePWMdriverimproved，drivingsystemcancontrol4robot’Sdrivingmotorsand1sprayingmotorARM7(LPC2104)isusedasMCUinthemonitorMeetingtherequirementsoftherobot’Scontrolling58keyboardisdesignedMonitorCancontrolandsco

8、uttherobotandsignalswitcherSignalswitcheralsomakesLPC2104asMCUSwitchingcircuitisdesignedtoswitchthesignalthrough71differentinductionwireloopSoftwareiscompiledthatrealizesauto—computingoftherobot’Srouteandactionsandrealti