关键词: 草莓采摘机器人, 行走控制系统, 差速运动, PID控制

Abstract: In response to the low efficiency of manual picking in strawberry planting bases, this paper designs a differential motion walking control system for strawberry picking robots. With focuses on the design requirements of strawberry picking robots, this studyhas conducted an in-depth research and analysis on the kinematics of the mobile chassis. Subsequently, the hardware and software parts of the walking control system for the strawberry picking robot was designed. In terms of hardware, we have selected a main controller with a 32-bit ARM microcontroller as the core, while integrating key components such as power circuit, ultrasonic distance measurement unit and motor drive module. In terms of software, we adopted the CANOPEN protocol, ported it to the microcontroller, and debugged it on the basis of the UCOSII real-time operating system. In addition, we have designed a PID control strategy to provide support for precise control of robots. This comprehensive solution greatly improved the efficiency of strawberry picking and provided strong support for the development of agricultural robotics. With the control system of the strawberry picking robot proposed in this article, more widespread robot application is expected to achieve in the process of agricultural modernization, so as to further promote the development and upgrading of the agricultural industry.

Key words: strawberry picking robot, walking control system, differential motion, PID control