Design And Experimental Research Of Intelligent Weeder Control System

Weeding is an indispensable and important part of the planting industry.At present,weeding generally relies on manual labor.In order to realize mechanized and intelligent weeding,scientific researchers have carried out a lot of research work,but there are still problems such as low efficiency of weeding operation,poor adaptability of power chassis,and poor equipment controllability.In view of the above situation,this paper designs a general electric weeding machine chassis control system based on GD32 microcontroller.Based on the general power chassis,it can realize weeding work in various environments with different working heads,and at the same time design accurate motion control.The program can cooperate with the host computer platform to realize unmanned intelligent control,which greatly reduces the intensity of manual work and improves the work efficiency.The control system can integrate sensor data to achieve precise control of motor movements,and can provide real-time feedback on its own motion status to the upper computer through the wireless module.The electric chassis can be equipped with different operating heads to meet various operating requirements in different environments.The specific research work is as follows:(1)Aiming at the general platform target,design an electric crawler chassis suitable for most environments,conduct simulation analysis on the mechanical characteristics of the chassis under different motion states,and carry out corresponding structural optimization according to the simulation results,so as to meet the needs of most Field work needs.(2)In the case of meeting the installation volume requirements,based on the modular design concept,build a control system hardware platform.According to different functions,the whole circuit is divided into main control module,gyroscope module,electronic compass module,display module,motor drive module and other parts.The modular circuit system is convenient for system debugging and troubleshooting,and other modules with the same interface can be replaced according to requirements during the actual operation.After completing the PCB design work,proceed to proofing and soldering and debugging of the PCB circuit board.(3)Based on the control program framework of the FreeRTOS system,the control software of the electric crawler chassis is constructed to realize the functions of the electric weeder chassis control system,and the performance test and parameter optimization of the PID motion control algorithm and sensor data processing algorithm are carried out.Finally,the simulation research on the performance of the control software is carried out to verify the comprehensive performance of the chassis control system of the electric weeder.(4)The anti-interference performance simulation test of the electric crawler chassis control system is carried out,and the overall real machine operation test is carried out to test the performance of the electric weeder chassis,and the system operating parameters are adjusted according to the actual test data to make the electric crawler chassis control system.Meet the actual requirements of the project.