Design And Simulation Of A High Efficient Weeding Robot

With the purpose of minimizing the volume of herbicides as well as protecting the environment, the United States and Europe have researched on intelligent methods of weed control. In recent years, related studies, including weeding robot, have been carried out in China.Considering the existing weeding robots still have some issues, such as low efficiency and the lacking of adaptability on bumpy farmland, this paper, based on previous studies, presents a robot scheme which can execute the weeding operation in intra-row and inter-row simultaneously, designs the overall structure of the robot, including intra-row weeding device, inter-row weeding device and four-wheeled vehicle. The robot adopts McPherson suspension structure which has the ability of crossing obstructions independently in order to get better adaptability on bumpy farmland.The bouncing characteristic of McPherson suspension structure has been simulated by ADAMS, on this basis, weeding robot's adaptability to farmland's unstructured environments , and it's ability of crossing obstructions in convex, concave and oblique land have been researched and simulated. The results show that the robot's mobile stationarity has been improved significantly due to the adoption of suspension structure. In addition, three kinds of grounds'impact on stationarity of robot's platform has been researched by means of parametric modeling and simulation.The speed of weeding robot has been analyzed, moreover, straight-line movement and steering has been simulated by ADAMS. The moving path on farmland has been simulated by ADAMS and co-simulated by ADAMS and MATLAB respectively. In the end, intra-row weeding was simulated and analyzed.