Design And Research Of Structure And Control System Of Weeding Robot

With the development of society,people have higher and higher demands on production.Since the reform and opening up,with the continuous progress of China's industrial science and technology,industry has exerted a huge impact on the development of agricultural science and technology.Therefore,the research of agricultural robot comes along with the trend,and the technology has been developing towards the direction of automation and intelligence.The design and application of agricultural robots are of great significance to the development of precision agriculture in China.Among the agricultural robots,the agricultural weeding robot is one of the research directions.The design and application of agricultural robots are of great significance to the development of precision agriculture in China.Among the research of agricultural robot,the agricultural weeding robot is one of the research directions.Therefore,it is of great practical significance to carry out relevant research work.This paper aims at the current research status of the weeding robot,and based on the idea of practicality and compatibility,designs a weeding robot that can be used in different environments.The biggest advantage of the robot is its versatility.Users can change different mechanical structures in different environments.This design has carry on certain inquiry and the design to the weeding robot mechanical structure.The motion mode adopts wheel structure and USES high power drive circuit to drive the motor.A six-degree-of-freedom robotic arm is used at the weeding end.The length and degree of freedom of the manipulator can be adjusted as needed.Different end-effector is designed according to different weeding methods.In the control system,this design uses STM32F103C8T6 microcontrol chip as the control part of the whole weeding robot.The motor adopts a high-power motor with a maximum torque of 91KG,and the steering gear on the mechanical arm adopts JX digital steering gear.The sensor uses ultrasonic ranging sensor and OV7725 camera sensor.Through software programming and later debugging,the system can achieve certain functions.In terms of simulation design,SolidWorks2016 is used in this design for the modeling of various parts of the weeding robot,as well as the assembly and motion simulation in the later stage.The assembly part mainly includes the mechanical arm,the chassis of the robot,and the wheel structure part.And the working Angle of each steering gear in the weeding mode was analyzed.In terms of visual identification,a visual identification system that can be processed in real time is developed based on the LabVIEW software platform.The method with the best processing effect is studied for specific image processing steps.Finally,the weed identification function is successfully realized.The system can also realize the function of sending the weed information data to the control chip of the weeding robot by means of serial port communication to control the mechanical arm to perform the weeding action.Finally,in the field experiment,we combined the mechanical structure of the weeding robot with the developed visual recognition software to achieve the goal of weeding in the field.