DEVELOPMENT OF OBSTACLE BYPASSING METHOD OF ECO-AGROROBOT

Abstract

In this paper, the movement of a laboratory model of a wheeled eco-acrorobot equipped with photovoltaic panels and performing agricultural work is investigated. Having an active role of eco-agrorobot within the framework of the smart village project the linear movement, maneuverability and capability to bypass the obstacles encountered during the movement of the eco-acrorobot are being investigated. The eco-agrorobot is powered by solar panels installed on it. Eco-agrorobot is supposed to be driven by two asynchronous electric motors controlled by a frequency converter installed on front gears. The rear wheels are "royal" (passive) type and do not create traction force. The movement of the eco-agrorobot is controlled by the software. The eco-agrorobot performs agricultural work by moving along a predetermined trajectory in the field previously set to its memory. The ability of the eco-agrorobot to bypass the obstacles encountered during its movement is achieved via two leading wheels controlled by obstacle detectors installed on the robot. The algorithm of maneuvering and bypassing obstacles by the eco-agrorobot was developed, the calculation of the parameters of the solar panels and the selection of other devices were applied. In the presented laboratory model of the eco-agrorobot, the linear movement and maneuverability of the eco-agrorobot is achieved via two DC motors controlled by four ultrasonic sensors installed on the robot. The robot's trajectory is determined by processing the incoming signals through the Arduino microprocessor. Keywords: frequency control, regulated electric drive, wheeled robot, ultrasonic sensor, solar panel, smart village.