Design And Reserch Of Self- Propelled Greenhouse Sprayer Chassis Platform

Automated spray technology is the facility to meet the requirements of agriculture developed in recent years, an agricultural high-tech. First, we examined the working environment in the greenhouse,and analyzed the operational requirements of the greenhouse operation spray robot. On this basis,we developed a self-propelled greenhouse sprayer chassis platform which can walk and avoid obstacles own. Main contents and results were as follows:1. According to the design principles of control system, the thesis, combined with system requirements and technical indices in the practical project, analyses the control system structure of self-propelled greenhouse sprayer chassis platform and constructs the distributed control system between embedded industrial computer PC104 and lower computer.2. According to the needs and application characteristics of self-propelled greenhouse sprayer chassis platform, this paper designs body structure, driving system and sensor system. Based on calculation and analysis, we choose the suitable drive motor, power transmission parts and so on. According to the request of working environment, we use the decent sensors to get the information of environment around it and obtain the navigation information, by the ways of combining the infrared sensors and ultrasonic sensors.3. We did programming in the upper and lower computer to collect, process and communicate the sensor information. Thus, we could make a feedback closed-loop control with the drive system. And we design a terminal board controller to response to the obstacle-avoiding and fault information of chassis platform. 4. According to the structural characteristics of chassis platform and the relative motion with the path, this paper establishes the kinematics model and the state space model of controlled system. Based on linear quadratic optimal controller design in modern control theory, we get system optimal state feedback gain matrices K to complete the optimal autonomous navigation controller design. Simulation and experimental results show that the optimal controller can realize stable autonomous navigation for self-propelled greenhouse sprayer chassis platform and have a good steady characteristics and certain adaptability to speed change.