The Research On Greenhouse Robot Motion Controlling Based On Fuzzy Logic

Compared with traditional agricultural machinery, as the agricultural greenhouse robots can better adapt to new developments in biotechnology, the research on it has been carrying out home and abroad. However, directly using the control technology of industrial robots, the existing greenhouse robots research has ignored the complexity of agricultural production and the great individual differences of labor subjects. Actually, the requirement of greenhouse robots is much higher than those of industrial robots. At present, the primary issue on developing greenhouse robots is how to control their walking process in accordance with the characteristics of farmland and some uncertainties. Therefore, the essence of the control technology is to develop a marching route adaptable to complex greenhouse environments, which has a direct impact on the operating effectiveness, and also is the focus of this paper. Focusing on the mobile robots research.This paper makes a detailed study related with the greenhouse robots: their basic concepts, classification, development status home and abroad, key issues, technology trends and application prospect. Through the analysis of the mechanism of robots', of its gears and legs structure, the walking pattern of greenhouse robots has been selected in this paper and a kinematical equation has been established afterwards. On the basis of greenhouse robots modeling and motion analysis, the simulation of the Motion Control System will be focusing on analyzing the obstacle avoidance planning, so that to ensure the safety of mobile robots. As a result, fuzzy control has been introduced to develop a road route control technology under complex situations. The software simulation results show that this control method has a better tracking effect. Through the analysis of a single-chip controller and selection system of sensors, according to different system hardware, their real-time feature and security requirements, the hardware of a greenhouse control system has been set up. In order to put this into practice, the greenhouse robot has been made out and the function of obstacle avoidance has been realized based on the design of hardware and software of greenhouse robots.