| The plant protection robot is a kind of robot system with high adaptability,which is suitable for the complex unstructured agricultural work environment.The paper has carried out a detail study of transmission and control system of the robot,combined with the actual situation of spraying operation,built the mobile platform,used the combination of fuzzy PID and preview algorithm realized the automatic steering and path following,through experiment the effectiveness of the tracking effect is verified,and the robustness and adaptability of the plant protection robot to the vineyard environment were improved.The research content is divided into the following aspects:This paper based on the mobile platform of plant protection robot,describe the selection of the driving mode and the basic structure of the transmission system,and on this basis build a mobile robot platform,provide the possibility for automatic control of robot.Robot steering performance will directly affect the efficiency of the work,this paper focuses on the design and process of the robot trapezoidal steering model,using the servo steering based on fuzzy PID closed-loop control strategy of steering wheel angle sensor,in the simulation system can be seen the fuzzy PID automatic steering system has has the advantages of high speed and small overshoot.In the experiment,I designed the central control unit based on STM32F103ZET6,and completed the core circuit and PCB circuit board with the control requirements,completed the robot manual mode and automatic mode programming.At the same time,this paper designed a tracking method based on preview control,build a simulation model in MATLAB/simulink.The results show that the path tracking method has better robustness and response,can meet the requirements of robot path tracking.The design and manufacture of the robot prototype has been completed plant protection field test work,can complete the task of drug prevention in different growth period of grape in large-scale vineyard,the robot can complete the path of vineyard environment tracking. |
