Design On Self-propelled Spray System And Research On Independent Operation Of Spray Robot

Spray robot is a high-tech agriculture and forestry equipment, it is mainly for greenhouse and nursery. We investigated the actual working environment of greenhouse and nursery and analyzed the requirements of spray homework. Then we developed a spray system and a hardware circuit system with DSP2407which is the key, the assembled spray robot can realize autonomous walking and spraying pesticide independently.In the independent operation of the spray robot, we introduced the control strategy of walking along the crops to spray pesticide. Then the fuzzy logic control was applied to the autonomous obstacle avoidance of the spray robot, and we completed the simulation of fuzzy obstacle avoidance system; Besides, the fuzzy PID control was applied to constant pressure control of spray system, we realized the constant pressure control of spray system based on the PID real time parameter tuning, And it was compared with the conventional PID control; At last, we introduced the overall program design and other subprogram design of spray robot.Finally, we tested the robot in the actual environment. The test achieved the expected results, the spray robot meets the requirements of autonomous walking and spraying.