Design And Research On Greenhouse Spray Robot Chassis

Automated spray technology is the facility to meet the requirements of agriculture developed in recent years, an agricultural high-tech. First, we examined the working environment in the greenhouse, and analyzed the operational requirements of the greenhouse operation spray robot. On this basis, we developed a greenhouse spray robot chassis which can walk and avoid obstacles own.We developed a robot with TMS320LF240X core hardware control systems, including sensor systems, drive systems and control systems of three parts.In the path planning, first, we introduced the walking along the wall behavior strategy, and then analyzed three problems of the traditional artificial potential field:unreachable problem, the path turbulence, and local stability. To address unreachable problem, we introduced the relative distance between robot and the target point to the repulsion function to construct a new repulsive force function, and the robot can successfully reach the target point. To slove the path of shock and local stability problems, we introduced walking along the wall behavior strategy into the path planning, in order to force the robot to get rid of obstacles, meanwhile, the robot can reach the target point and steady.By computer simulation and physical experiments, this approach meets the functional requirements of the greenhouse spray robot chassis.