Design And Test Of The Control System Of The Robot To Climb Trees Pruning

In this paper,according to the fast-growing forest planting are increasing in China,the fast-growing forest branch's relatively backward pruning tools,and the bigging pruning intensity,security can not being guaranteed and so on,I climb a tree pruning robot control system design and experimental research.The tree pruning robot has the characteristics of high degree of automation, simple operation, easy to use.At present,the economic development of our country is rapid,The need for industrial timber including industrial forest is increasing,In order to meet the needs of Industrial Development,our country develop fast-growing forest vigorously.Therefore,the research and application development of the hardware pruning machine for forestry development is necessary.The pruning machine is more and more national attention,the prospects for development is very broad.Firstly, on the subject of the proposed has made the simple introduction of the research background, significance, pruning machine at home and abroad research status and climb a tree pruning robot principle and main function,then the tree pruning robot structure design scheme is discussed in this paper,the combined simulation of ADAMS and MATLAB is carried out,the feasibility of the design scheme is analyzed,the hardware and software of tree pruning robot control system is designed,this paper determines the STM32 microcontroller as the core controller,this design install the ADT eclipse on the phone Android application for remote control of the control system.This paper designed the control process and working process of tree pruning machine,A lot of experiments are carried out,a lot of test data are collected,the test data is analyzed,the feasibility of the control scheme is verified.This control system uses STM32 single chip microcomputer as the core processing chip,the system design of control system of tree pruning robot based on STM32 MCU,the design and to install on the phone ADT eclipse Android to prepare the application for the remote control section.In this paper, the control system is described in detail:firstly, the overall control scheme is designed,the feasibility of the control scheme is analyzed;second the hardware design of the control system isintroduced,the hardware design includes the choice of the upper computer and the lower computer STM32, the core control, the power supply circuit design, the sensor data collection, the selection of the solid state relay and the steering gear;the software design of the control system is described in detail,this paper describes the lower computer control software programming, the upper computer Java system Android control program design, the upper and lower computer communication protocol design.The program design of the lower computer control software includes the main program design of the single chip microcomputer, the design of the sensor operating software and the steering gear control software design;PC software design is mainly on the preparation of the host computer program, Bluetooth communication,mobile phone control process;the design of communication protocol of upper and lower computer incommunication protocol of the lower computer and the communication protocol design of the host computer.