Design and test of a distributed control system of weeding robot based on multi-STM32 and CAN bus

Abstract

Aiming at the problems of a single control mode, complex signal line, serious interference and poor system stability of a traditional weeding machine, a distributed control idea was proposed. Based on STM32 as the main control chip, each control unit realizes motion control, detection control, command control, and the terminal was displayed in a centralized manner. Based on ISO11783 protocol, according to the actual requirements of the weeding robot, the CAN bus communication protocol was improved and formulated to form a distributed control system. The system can completely realized all the actions of the weeding robot. 1. Motion controls: robot forwards, backwards, turning and weeding knife up or down; 2. Detection feedback: a power chassis climbing angle calculation and weeding knife speed self-adjustment, battery power, engine fuel capacity display; 3. Control command input functions. The test results had shown that the control system is stable, responsive solid, design specifications. It could meet the requirements of practical application. Meanwhile, the real-time accuracy and reliability of a CAN bus application in the agricultural production control system were verified.