Research On Control System Platform Of Picking Robot In Greenhouse Based On ROS

The study of picking robots in greenhouses is of great significance for alleviating the lack of rural labor force,reducing the intensity of artificial labor,ensuring the timely harvesting of fruits and vegetables,improving the efficiency of fruit and vegetable picking and the automation level of the greenhouse.Its application has broad market prospects.Due to the complex software architecture and the difficulty of multi-task parallel development of agricultural robots,this paper studies the control system platform of picking robot based on ROS.According to the function requirements and operation requirements of picking robot,the overall design plan for picking robot is determined,and the mechanical structural design of the picking robot is completed.The greenhouse operation space is small and the operating environment is complex.Therefore,the picking robot adopts a four-wheel omnidirectional chassis with obstacle avoidance function,and the picking robot arm uses a DOBOT Magician with 4 degrees of freedom.According to the characteristics of application and system framework of ROS,the hardware and software design of the control system platform are completed.The control system platform consists of a mobile robot terminal and a remote control terminal,and both terminals perform TCP/IP communication by Wi-Fi.The main hardware of the mobile robot includes a robot master controller,a chassis controller,a robot arm controller and a camera,and the master controller uses USB communication with other controllers and the camera.The main hardware of the remote control terminal includes input devices such as Leap Motion controller and PS2 wireless controller,and a PC.USB communication is used between the PC and the input devices.According to the requirements of picking operations in the greenhouse and the communication mechanism for publishing and subscribing to topics and the service communication mechanism for request and response interactions based on ROS,the software design of robot chassis movement and robot arm picking are completed.For the remote control and debugging of robots,the real-time display of job images is realized at the remote control terminal,and the control program design of the robot chassis and arm are completed by three control methods: keyboard,Leap Motion controller and PS2 wireless controller.The relevant experiments verify the effectiveness and reliability of the control system platform.The results show that the control system platform basically meets the expected control objectives.