Researches On Control System Of Weeding And Insect Removal Robot In Vegetable Greenhouse

At present,manual weeding is mostly used in vegetable greenhouses,but this method has the disadvantages of high cost and high work intensity,which are not suitable for large-scale working environments;although the use of pesticides can effectively suppress weeds and pests,it will destroy the planting environment.On the other hand,due to technical limitations,physical deworming methods have not been widely used.Therefore,there is a need to develop an automated weeding and insecticide robot suitable for vegetable greenhouses to meet the weeding and insecticide work in the greenhouse fields.According to the actual needs of the project,this paper designs a kind of robot control system which is suitable for vegetable greenhouse.It can make the robot achieve the functions of autonomous navigation and positioning,mechanical weeding and insect control.The main research contents include the following aspects:(1)The overall scheme of robot control system is designed.Based on DSP2812 microprocessor,magnetic sensor,QR code recognizer,hub motor,linear module and mechanical claw,the control system of the robot is designed in this paper.The system includes two parts: the robot mobile platform control system and the weed and insect control system.(2)In the research of autonomous navigation,a fuzzy control algorithm is proposed to ensure the robot's straight-line driving ability.According to the relative position of the magnetic sensor and the magnetic stripe,a two-dimensional fuzzy controller is designed,which takes the deviation and the deviation change rate as the input and the PWM duty cycle difference of the controlled motor as the output.Through the collected magnetic signal,the controller can realize the deviation correction control according to the designed fuzzy controller.(3)In the research of weeding and insect control,linear module and claw end effector structure are used to complete the weed and pest removal work.The pulse generated by the controller controls the coordinated movement of each axis of the linear module so that the mechanical claw installed on the linear module can accurately reach the specified coordinate position.(4)The thesis gives periodic tests on the function of each part of the robot and analyzes the related test results.The results show that the robot's speed during autonomous navigation is relatively stable,and the path tracking deviation is less than 40 mm,and it can implement the function of positioning and in-situ steering through the QR code signal;Within the effective working range,the positioning accuracy error of the linear module X and Y axis is within 1mm,and the positioning accuracy error of the Z axis is less than 7mm;In addition,robots can successfully implement mechanical weeding and insect removal methods in indoor test sites.The robot can basically achieve the expected action and has certain practicability.