Research On Control System Of The Telecontrol Electric Micro-rotary Cultivator For Greenhouse Based On Visual Telepresence

Facility agriculture is the inevitable trend and development direction of contemporary agricultural development.It is the basis of the transformation and upgrading of traditional agriculture.With the development of facility agriculture,the demand for agricultural machinery used in the greenhouse is becoming higher and higher.This paper designs an embedded distributed structure control system for greenhouse electric micro-tiller,which is used to realize the function of electric micro-tiller.The paper focuses on a number of aspects involved in the control system of electric micro-tillage machines.The hardware development of the vehicle control terminal,the function module and the wireless remote control part of the electric micro-tiller control system is completed,and a control system platform based on the embedded distribution mechanism is built.Each function module can independently complete the corresponding function,which can improve the operational reliability of the control system,and simplify the design of the software.At the same time,the entire control system uses CAN bus to achieve the communication between the various modules,to facilitate the system expansion,to solve the lack of centralized control system.Combined with the requirements of the greenhouse environment,the paper implements the functions of modules such as vehicle master control,walking system,human-computer interaction system,agricultural machinery control system and power management module.The main control end of the vehicle in the entire control system from the role,through the 2.4G wireless module to receive remote control instructions and through the CAN bus to the remote control command to the corresponding function module;the study of the walking system is used to realize the function of the autonomous linear traveling and man-machine cooperative slip steering of electric micro-tiller;human-computer interaction system consists of two parts,namely 2.4G remote control and 5.8G map transmission,remote control for the output control instructions to operate electric micro-farming machine to complete the function,Electric micro-tiller beyond the scope of the operation;agricultural machinery control system for the realization of agricultural machinery with deep adjustment and rotary tillage function.The tests of the electric micro-tiller control system are carried out to prove the feasibility and practicability of the control system design.Through the straight machine running and sliding steering test,it shows that the walking system model is reasonable and the test result is ideal.Finally,this paper summarizes the main work and makes a prospect for the future research.