Design of Intelligent Watering Robot

This paper proposes to design an intelligent watering robot designed to reduce human resources, reduce the labor intensity of manual spraying, improve the efficiency of watering bonsai, and accomplish the automatic intelligent function of watering bonsai. By selecting stm32f4 based on ARM Cortex-M4 core as the control center of mobile robot, linear CCD image acquisition sensor TSL1401 as line patrol module, microcontroller MSP430, YL-69 soil moisture detection sensor as soil moisture detection module, NRF24L01 wireless transceiver chip as a wireless communication module, it can automatically walk along a predetermined path and perform watering operations on bonsai that needs to be watered. In addition, a D-H coordinate system was established for the RPP spray manipulator mounted on the robot mobile platform. On this basis, the Lagrangian approach was employed in deriving the dynamic model of a three-DOF manipulator, and the dynamic simulation analysis is carried out to analyze the force/torque change curve of the manipulator, which can provide a theoretical basis for the dynamic design and dynamic control of the manipulator.