The Chinese utility model patent of Application No. The control system is simple in design and easy to operate. The cleaning robot control system controls the rubber tapping depth by cooperating with the current relay module through a program in a control panel, collects and processes information fed back by the rotary encoder and then sends an instruction to precisely control the stepping motors in real time to cooperate with one another to conduct tapping, after primary tapping is finished, the main controller controls a tool to return along an original path, and after delaying is conducted, the tool moves downwards by 1.1 mm for next tapping. The main controller is mainly used for receiving various operation instructions and controlling all mechanisms of the automatic rubber tapping robot to cooperatively move the rotary encoder is mainly used for detecting the motion conditions and positions of stepping motors and feeding relevant information back to the main controller to be processed the current relay module is mainly used for controlling the tool tapping depth when the rubber tapping robot starts primary tapping the power module is a small solar power generating system and is used for supplying a power supply to the control system. The control system is characterized by comprising a main controller, a rotary encoder, a current relay module and a power module. The invention discloses a control system of an automatic rubber tapping robot, and belongs to the field of specialized robot control. Y02P60/12- Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g.Y02P60/00- Technologies relating to agriculture, livestock or agroalimentary industries.Y02P- CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS.
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