Research On Multi-functional Agricultural Robot For Greenhouse

With the rapid development of the agricultural,our country's greenhouse planting area has already became the world's first.But the agricultural equipment that used in the greenhouse work development slowly,therefore it has important practical significance that to development a kind of pollution-free and multi-function agricultural robot which used for farm work in greenhouse.The paper identified the total design that the robot integrated functions such as rotary tillage;sowing;fertilize and weeding,was based on the greenhouse working environment and requirement.In order to make the function interchangeability,we used the method that modular design for mechanical structure design process,the paper researched on the convenient and efficient way in which working functions were exchanged,studied the structure of each functional module;the caterpillar chassis and the electrical parameter matching of typical components.In the hardware part of the control system,the embedded hardware platform were built in which based on the functional requirements of the control system,the main controller and the slave controller were designed in which based on the STM32F407 microcontroller and the MSP430 microcontroller,the goal was achieved that communication between controllers through NRF24L01 modules,the robot's sport speed was detected by used the hall speed sensor,the robot's attitude information was collected from JY901 sensor and the motor control parameters as well as the remote control commands were displayed by used the LCD.This paper also Used the modular design method to design the software part of the control system,the main controller side mainly include the modules such as communication and display;walking control;speed and attitude information collection;agricultural tool's control and so on,the remote controller side mainly include the modules like communication and the human-robot interaction.Related experiments such as rotary tillage and sowing has been given in this paper,the results showed that the robot can quickly complete the transformation of functions,the quality of rotary tillage and sowing has reached the design requirement which already has some practical value.In addition,for the weeding function module,this paper has just tested whether the mechanical structure was feasible,the test results showed that the module's mechanical structure was feasible and effective.