题 目 基于 CAN 总线的农业采摘机器人 AGV 控制 系统的设计 PAGE \* MERGEFORMATV摘 要果蔬采摘机器人的核心是一个自动机械系统，该系统可以独立选择采摘路线，感受整个身体的复杂环境，并通过编程实现各种功能。正常的状态之下，电动机带动果蔬机器人工作，机器人在一定的速度之下稳定的工作，遇到障碍之后会进行报警，带动电机进行转动可以实现整个采摘机的快速的躲避障碍，进行实时的超声波的距离，将信号返回原有的系统驱动发动机芯片控制整个电机的正常的运转，对整个电机的转速进行显示使用总线进行通讯功能的控制进行通信电路的控制实现各种功能使用 c 语言进行编程完成控制。果蔬采摘机器人控制系统使用自动控制技术和传感器知识包括了电机驱动和超声波模块和总线控制模块，每个模块控制系统包括了很多功能在 can 总线技术之下来满足工作的要求对信息传输有着很大作用。关键词：AGV 控制系统、超声波测距、驱动控制、CAN 总线PAGE \* MERGEFORMATVABSTRACTThe design of AGV control system for fruit and vegetable picking robot uses multi-disciplinary knowledge such as automatic control technology, CAN bus technology and sensor technology. AGV control system includes motor drive system, ultrasonic ranging module and CAN bus communication module.An intelligent node circuit is designed with CC430 single chip microcomputer as the core, which mainly realizes the following functions: using C language programming to complete the system control. Under normal working environment, the motor drives the fruit and vegetable picking robot to move forward at a uniform speed. When an obstacle is encountered, an alarm is issued. At the same time drive motor steering, so that fruit and vegetable picking robot back to avoid obstacles. Real-time display of ultrasonic measured distance on the display module, feedback to the user. Using CAN bus technology, can bus communication function is realized, and data exchange is realized by CAN Intelligent node communication circuit. In the...
