Design Of Control System Of Automatic Grain Turning Robot

Grain drying is an important process after grain harvest.Grain drying can not only ensure grain quality,but also facilitate subsequent storage.At present,due to a large number of young rural labor force work in cities,there are left behind elderly and children in rural areas,which leads to the shortage of agricultural labor population.However,small-scale grain farmers continue to exist in China,and the grain drying treatment mainly relies on the rural elderly to turn the sun manually,this method has high labor intensity and low efficiency.Therefore,in order to improve the automation level of grain drying technology,this paper designed an automatic grain drying robot control system,and the path planning of the mobile platform and the motion planning of the drying manipulator are studied,so as to make some attempts for the promotion and the use of agricultural robots in small-scale grain farmers.The main research contents of this paper include:(1)Control system scheme design.According to the analysis of the functional requirements of the control system of the automatic grain drying robot,STM32F103ZET6 is selected as the main control chip to design the hardware system.It mainly includes the drive control system and the control system of the drying manipulator.In the drive control system,57BYGH76 stepping motor is used as the power source,and HD-8860-C5 is used as the motor driver.In the control system of the drying manipulator,through the research on the configuration and requirements of the manipulator,a three-link drying manipulator composed of the electric push rod and various devices is designed,with L298 N as the electric push rod driver.In addition,the ultrasonic obstacle avoidance module,installation position and power module are studied.(2)Research on full coverage path planning of grain drying robot.In view of the fact that when the robot is working in the teds,farmers generally choose the teds according to local conditions,sometimes the field there are impassable obstacles such as telegraph poles and walls in the teds,forming an inaccessible area for the robot,grain robots make efficiency low and path safety is not high,this paper proposes an improved A * algorithm of complete coverage path planning scheme.The evaluation function of traditional A* algorithm is improved by introducing an exponential function to improve the efficiency of the robot operation.The optimized Bezier curve is combined with the improved A* algorithm to make the path smoother and safer.The experimental results show that the improved algorithm can improve the path finding time,path smoothness and safety,which can provide a basis for the subsequent research on system path planning and has certain application value.(3)Study on motion planning of manipulator.Considering the drying manipulator function extension in the future,such as grain in advance,grain bag,it may need more degrees of freedom manipulator to complete,so this paper takes the 6-DOF manipulator as the object,motion planning algorithm of 8-bit single-chip microcomputer system is studied and discussed,it provides the technical basis for the realization of the control system on the single chip microcomputer.Firstly,the kinematics of the manipulator is analyzed and the mathematical model is established.Secondly,the error compensation function is designed to reduce the end position error of the manipulator.Then,the motion planning problem of the manipulator is solved on the 8-bit single-chip microcomputer platform,and the solution results are simulated and analyzed.Finally,a simple experimental platform of the manipulator motion planning control system is built by using the manipulator body and the single chip microcomputer for physical verification.The results show that the 8-bit single-chip microcomputer can support the implementation of the whole motion planning scheme,and the calculation accuracy of the algorithm meets the requirements,and the control operation is continuous.The results can provide theoretical basis and technical support for the functional expansion and hardware expansion of the drying manipulator in the future.(4)System establishment and analysis of experimental results.Complete system debugging and functional module testing,complete the calibration of the ultrasonic obstacle avoidance module to determine the safe distance between the robot and the grain field,the relationship between the joint angle of the drying manipulator and the stroke of the electric push rod of the driving mechanism was determined,and the simulation verification of the drying manipulator motion planning was completed.On this basis,a prototype of automatic grain drying robot was built to complete the whole machine test.The results show that the automatic grain drying robot designed in this paper can experiment the basic drying function and achieve the expected goal.