Research And Implementation Of CAN-based Harvesting Robot For Fruit And Vegetable's AGV Control System

In agricultural production, labor costs were high. It cost as high as50%to70%. It was veryimportant to achieve the robotization and intelligence of agriculture. This issue was from one of thenational863program, whose name was the research of key technology of omnidirectional automaticstepped harvesting robot for fruit and vegetable in greenhouse, designed the AGV control system ofharvesting robot for fruit and vegetable.The main design idea of AGV control system of harvesting robot for fruit and vegetablecombined vehicle control technology with bus technology, sensor technology and networkcommunication technology, in order to control AGV of harvesting robot for fruit and vegetable.User remote supervisory controlled the AGV through wireless network with main control computer.Vehicle movement was controlled, the data form sensors was gathered and the data form sensorswas send to main control computer by the computer on AGV.Against the background of the development of the unmanned vehicle, based on CAN bustechnology theory, CAN bus was used to control AGV movement and gather data from sensors inthis paper. The main computer communicated with the computer on AGV with the wireless network.Orders and data were transferred to each other. Based on these technologies, the AGVof harvestingrobot for fruit and vegetable was composed of main control module, vehicle control module, datagather module and cell phone watching module.Firstly, the module of the AGV was analyzed, reasonable move methods and run scheme wasconcluded. Secondly, based on CAN bus technology, A CAN brainpower node for gathering datafrom sensors was made, the network among different devices in system with wireless networktechnology was built. Thirdly, after making the CAN brainpower, communication drive softwareand different data acquisition software for each sensor was designed. On the IDE of VC6.0, thesoftware on main control computer and AGV computer was designed and tested, which realized theeffective control to AGV. At the same time, on the IDE of Eclipse, the watching software onAndroid system with wireless network was designed, which could gather the data from the maincomputer in order to facilitate users watching AGV state. Finally, after achieving the above, thefunction of the sensors, the software on main computer, computer on AGV and Android cell phone was tested. The AGV's move methods were debugged. The debugging results show that the controlsystem of AGV run well, and achieved the desired results.