| Agricultural robot is one of the research focus in the field of agricultural machinery inChina, many mature technologies has been applied in agricultural production. However, thereare still a lot of related technologies needs further study. And there’s also problem on lack ofexperimental equipment, which has become a basic restrict to improve the research standard.This paper depends on the needs of agricultural robot visual navigation research, builtthe agricultural robot experiment platform and design the preliminary control system. Thispaper describes the design of the system hardware and software, then analysis the test results.The main contents are as follows:(1) Complete the general design of the small agricultural experiment platform and theplatform’s mechanical systems. Present the basic requirements of the platform, determined themain function according to the requirements. The experimental platform walking automaticbased on a pre-planned strategy by using the ultrasonic sensor. Using the ultrasonic sensor todetect the obstacles and determine the movement of platform according to the feedbackresults. The experimental platform using the differential steering mechanism. The frontwheels are brushless DC motor drive wheels while the rear wheels are the follow wheels.(2) Design the control system based on the micro-controller. Selected the main drivecontroller model, the sensors and other components depends on the design requirements.Design the main control circuit, the power supply circuit, the motor driving circuit and theultrasonic sensor detection circuit.(3) After the completion of the hardware design, write the software program according tothe control target. The software can be divided into the main program module, the motorcontrol module and the ultrasonic sensor control module according to the basic controlfunction. Completed the preliminary motion control of the experimental platform. Eachfunctional module can achieve the design of the function.(4) Finally, complete the assembly of small agricultural robot experiment platform,debugging and testing since the hardware and software system design are completed. Testswere carried out by measured the vehicle’s speed and the ultrasonic sensor distance detection.Determined the optimal parameters of the experimental platform and verify the basicfunctions of the platform. Experimental result shows that the design of the control system can meet the preliminarytest requirements, and achieve the desired purpose. The whole system has a conpact structureand can operate convenient, which laid the foundation of the study for multi-robot navigationand agricultural robot visual navigation. |
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