Design of Control System for a new Intelligent Tree-climbing and Pruning Robot

Abstract

This paper designed the control system of a new intelligent tree-climbing and pruning robot which included the control of remote control mobile terminal and intelligent control terminal. Remote control module, power circuit, motor drive, automatic holding detection, height detection, side branch detection and other modules were designed, Then the main program based on STM32 embedded MCU, interrupt program and communication program were designed. The control system could enable the tree climbing robot to climb automatically, detect the side branches in the climbing process, trim the side branches automatically, and saw the top branch after climbing to a certain height. The robot also had the function of image monitoring. Through image monitoring, the working process of the robot could be adjusted remotely. Finally, the prototype was tested. The test results showed that the selection of controller and sensors were appropriate, the design of remote control circuit, motor driving circuit and detection circuit was reasonable, and the structure and algorithm of the program were reasonable. The development of the prototype laid a foundation for the popularization of fast-growing forest pruning robot.