新型自动割草机的设计与开发—控制系统设计

Design and development of new automatic lawn mower-control system designAbstractThe lawnmower is an indispensable and important tool in garden design and mowing.Especially forgardeners,the use of lawnmowers is commonplace,but it is not an easy job for lawn trimming.Heavymachines and roaring engines are stereotypes of lawn mowers.Designing a lawnmower that saves time,effort,efficiency,and low noise is the main purpose of this topic.The control core system of the newautomatic lawn mower is based on the ARM Cortex-M3 architecture,using the STM32 Fl series as thecontrol chip,using four-wheel drive encoder motor to achieve the drive.At the same time,it cooperateswith MPU6050 chip to realize PID algorithm control to achieve precise motion of lawn mower.Theoperation mode uses remote control Wi-Fi remote control,which uses the NRF24L01 chip to transmit datato the core control board through SPI communication.In order to achieve the height of mowing,PWM isused to control the angle of the two servos and the connecting rod to complete the lifting.The mowingblade uses a DC motor to reciprocate the lawn using a reciprocating motion.Keywords:Lawn mower:STM32 Fl;Coded motor;PID algorithm:NRF24L01:Steering gear