Control System Design And Key Technology Research Of Intelligent Seeding Robot

Agriculture plays a supporting role in the development of rural areas.Food is the most important thing for the people.Most of farmers’ lives depend on agriculture.In rural areas,except for living houses,most of the land is for planting.With the improvement of residents’ living standards,most of the young people have gradually gone out of the countryside and entered the big cities,leaving more and more elderly people to stay in the countryside for farming.Then the following problems have gradually emerged.Young people are the main driving force for agricultural planting,and the remaining people are seriously short of labor,with high labor intensity and low planting efficiency in the planting season.The old-fashioned planting tools used by farmers can not meet the growing labor intensity.In order to reduce the labor intensity of farmers,reduce planting time and improve planting efficiency.This paper takes the corn planting area in Jilin City as the research object,and studies the key technologies of the seeding robot.Firstly,this paper introduces the design process of the control system of the seeding robot,summarizes the main functions of the seeding robot,selects the corresponding hardware circuit according to the main functions,draws the circuit of the seeding robot control system,selects STM32F103ZET6 as the controller of the seeding robot,and carries some peripheral module circuits around the main control chip to realize some additional functions.Aiming at the design of hardware circuit of seeding robot control system,the software implementation process of seeding robot main control chip circuit and corresponding module circuit is introduced.Secondly,according to the characteristics of the working area of the seeding robot,the mechanical model of the seeding robot is designed.The walking mechanism and three-dimensional diagram of the seeding robot are designed by using Solid Works three-dimensional software,and the kinematic model of the walking mechanism of the seeding robot is introduced.Then,three methods of environmental modeling are selected to introduce,and the advantages and disadvantages of their modeling methods are compared.This paper selects grid modeling method,and introduces the process of grid modeling method.This paper studies the full coverage path planning algorithm.In view of the shortcomings of the simple reciprocating coverage algorithm,this paper adds the priority strategy to the simple reciprocating algorithm,and introduces the A* algorithm to break away from the dead zone problem.Finally,MATLAB is used to simulate the simple reciprocating coverage algorithm,element decomposition coverage method and full coverage algorithm in the same environment grid map,select different grid maps for many experiments,and compare and analyze the simulation results.According to the simulation data,it can be seen that the improved full coverage method proposed in this paper can bypass obstacles and completely cover the walkable area.Compared with the other two algorithms,it has less repeated coverage and shorter path length.The feasibility of the full coverage path planning method in this paper is verified,which can play a good reference for the future agricultural development.