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A Control System of Mobile Navigation Robot for Precise Spraying Based Ultrasonic Detecting and ARM Embedded Technologies

文献类型： 外文期刊

作者： Tang, Xiuying 1 ; Li, Cuiling 1 ; Wang, Xiu 2 ; Yue, Xinpeng 1 ; Peng, Yankun 1 ;

作者机构： 1.China Agr Univ, Beijing 100083, Peoples R China

2.Beijing Res Ctr Informat Technol Agr, Beijing 100097, Peoples R China

关键词： Precise spraying;Navigation;Ultrasonic detecting;ARM;Agricultural robot;Obstacle-avoiding

期刊名称：SENSING FOR AGRICULTURE AND FOOD QUALITY AND SAFETY III

ISSN： 0277-786X

年卷期： 2011 年 8027 卷

页码：

收录情况： SCI

摘要： This paper described a control system of mobile navigation robot for precision spraying in greenhouse environment, which were composed of main control module, motor driving module, ultrasonic detecting module and wirless remote control module. The hard circuits of control system were built. The main control module used ARM7TDMI-S-based LPC2210 micro-processing controller. The motor driving module consisted of voltage amplifier circuit based SN74LS245N and DM74LS244N chips, RC filter circuit, and HM-YZ-30 DC brush motor driver. The ultrasonic detecting module consisted of four standard ultrasonic ranging modules which were arranged on the four sides around the mobile navigation robot, and used GM8125 chip to expand serial communication interfaces. An obstacle-avoiding strategy and its algorithm were proposed and the control programs of mobile navigation robot were programmed. The mobile navigation robot for spraying can realize the actions such as starting and stopping, forward and backward moving, accelerate and decelerate motion, and right and left turn. Finally, the functional experiments of the mobile navigation robot were conducted in the laboratory environment. The results showed that the ultrasonic detecting distance of the robot was 50.5mm-1832.0mm and detecting blind zone was less than 50mm, the ultrasonic detecting angle of individual ultrasonic detecting module of robot was similar to U-shaped and its vaule was about 45.66 degrees, and the moving path of navigation robot was approximately linear.

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