Research On Motion Control Of Spraying Robot And Display Of Overlapping And Deficient Spraying Area

Once robot is used to work spraying in the field, it will prevent the farmers from direct exposure to the farming chemicals , reduce the risk of poisoning , save labour power and the labor strength ,and it will become a precision spraying and automatic sprayer combined with variable-rate spraying equipment (VRSE), to use pesticides effectively, decrease the volume of pesticides and decrease the degree of poUution.This paper aimed at researching the movement control system of the spraying robot.According to requirement of working speed in the field and the ofcharacteristic of control signal (PWM value is from 190/200 to 2000), a controller was designed and a research was carried out in the relationship between wheelspin ratio, load, speed and surface state, a relational expression was found which is used in navigation and postion system.Robot's running trace includes line and circle, as the ground is rough, robot runs away from expected route.In terms of robot's running features, a line and a circle path tracking controller was designed in order to control robot's running Hne.because of the track-laying robot's turning particularity, a fuzzy controller was designed. When its tracking path was a beeline, the error of robot's running line and towing carriage's line was less than tolerance max deflection; When its tracking path was a circle, tracking error rate and error was low, error rateof left turn and right turn was individually from -2.08% to 10.56% and -2.96%to9.36% .Meanwhile the spraying robot's localization system was researched.GPS/DR integrated land position system was designed, GPS/DR is based on fuzzy adaptive kalman filtering fusioned in the form of federated filter. The results of the examination were that the linearity of edge of spraying swath was from 0. 62to0. 81 (The ideal slope was from 0 to 1 meter), which was in tolerant scope .After many tests ,when spraying overlapping spraying breath and controller's parameter was 0.35 meter, overlapping and deficient spraying area were smaller, the overlapping spraying area was 20.24 square meter, the deficient spraying area was 4.1 square meter and workpiece ratio was relatively better. With ADAMS, the model of a robot and the towing carriage was made, they were driven along the curve of their trace made of real data ,The motion of...