题目基于CAN总线的农业采摘机器人AGV控制系统的设计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\*MERGEFORMATVABSTRACTThedesignofAGVcontrolsystemforfruitandvegetablepickingrobotusesmulti-disciplinaryknowledgesuchasautomaticcontroltechnology,CANbustechnologyandsensortechnology.AGVcontrolsystemincludesmotordrivesystem,ultrasonicrangingmoduleandCANbuscommunicationmodule.AnintelligentnodecircuitisdesignedwithCC430singlechipmicrocomputerasthecore,whichmainlyrealizesthefollowingfunctions:usingClanguageprogrammingtocompletethesystemcontrol.Undernormalworkingenvironment,themotordrivesthefruitandvegetablepickingrobottomoveforwardatauniformspeed.Whenanobstacleisencountered,analarmisissued.Atthesametimedrivemotorsteering,sothatfruitandvegetablepickingrobotbacktoavoidobstacles.Real-timedisplayofultrasonicmeasureddistanceonthedisplaymodule,feedbacktotheuser.UsingCANbustechnology,canbuscommunicationfunctionisrealized,anddataexchangeisrealizedbyCANIntelligentnodecommunicationcircuit.Inthefuture,anycontrolsystemwillcontainmanycomplexfunctions,whichwillbemoreandmoredemandingcommunicationbetweennodes.ThecommunicationtechnologybasedonCANbuscansatisfythemorecomplexsystemcommunication.Itisofgreathelptothedesignofthecurrentmodeofinformationtransmission.Keywords:AGVControlsystem,ultrasonicranging,drivecontrol,CANhighwayPAGE\*MERGEFORMATV目录摘要.................................................................................................................................................IIABSTRACT.........................................................................................................................................III1前言................................................................................................................................................11.1绪论......................................................................................................................................................11.2国内外研究现状..................................................................................................................................21.3课题任务..............................................................................................................................................22系统总体设计.....................................................................................................................................32.1AGV控制功能定义..............................................................................................................................32.2系统工作原理.................................................................................................................................
