Design Of Global Path Planning And Control System For Plant Protection Robot

In recent years,the state has paid more and more attention to the ecological development of “green water and green mountains”.Our country encourages the development of fruitbearing forest and promotes the modernization of fruit-bearing forest.Therefore,the cultivation of fruit-bearing forest has reached a new peak,and the planting area of fruit-bearing forest has been expanded,especially in the industry of grape.The planting area and output are among the highest in the world.That is a very complicated of grape growing,we should spray pesticides to it as many as 8-15 times a year.However,we had to drive the agricultural machine to complete the spraying operation,it requires many times to task,and its labor is high intensity;farmers are directly exposed to pesticides,which causes personal poisoning;groundwater can be contaminated if we spray too much pesticide.This topic is aimed at the above issues,based on a large number of documents in the early stage.We carry out in-depth technical research on global path planning based on baidu map,motion control,intelligent spray control and software design of control terminal.According to the research results,the overall design plan and research route of the system are formulated.Thereby reducing the intensity of fruit farmers’ labor,improving the work efficiency and accuracy,reducing the waste of pesticides and the harm caused by environmental pollution.Firstly,to solve the problem of global path planning,the beidou differential positioning system is used to collect high-precision positioning data,and obtain the boundary of information of the block to carry out the block mapping;Use Android to develop a terminal APP,and load Baidu map,load the plot information to construct a plot boundary map;The UTM is used to transform the latitude and longitude into the plane rectangular coordinates,which solves the problem that the unit of translational spacing is inconsistent with the unit of latitude and longitude;According to the requirements of optimizing the effect of the job and shortening the path of the job as short as possible,an S-type path planning algorithm is created to complete the global path planning.Secondly,to solve the problem of motor control,the current position and yaw angle information of the plant protection robot are obtained by the beidou differential positioning system based on dual antenna,and the path tracking model is created that related to the speed,forward-looking distance,the deviation and the yaw angle.Then the desired deflection angle of the plant protection robot is obtained;The deflection angle is converted into an electrical signal,the rotation of the servo motor is controlled through the PID controller,thereby the plant protection robot is controlled to turn.The corner sensor is used to collect the true rotation angle of the steering wheel,and feedback to the controller to complete the closed-loop control.Finally,to solve the problem of intelligent spraying,the swinging motor is used to drive the up and down swing of the arm,so that the spraying group moves synchronously,thereby increasing the spraying range.The strong wind flow blown by the fan can make the liquid to atomization more thorough,blowing the blade to swing,so that the medicinal liquid is evenly covered on both sides of the leaves;The sensor detects the condition of crop on both sides of the plant protection robot,so that the controller can separately start the spraying group on the left and right sides,then the spraying operation can be stopped when there is no crop on one side,which saves the medicinal liquid and reduces the pollution.According to the above research,the global path planning and control system design of plant protection robot is completed.Android is the platform of development,Eclipse is the environment of development,and JAVA is the language of development to develop a control system that meets the design requirements.The plant protection robot conducts autonomous movement through the route of the global path planning.The standard deviation of the lateral deviation is 1.3cm,and the maximum deviation is 6.8cm,which meets the operation’s requirements of agricultural machinery.The intelligent spraying system has a left-right spraying distance of 2m and a spraying height of 0.5-1.8m,which satisfies the demand of grape’s spraying operations.