Design And Experiment Of Autonomous Mobile Operating Platform For Multi-span Greenhouse

According to the planting environment and working conditions of the multi-span greenhouse,the thesis aims at the difficulties of low automation,difficult access,inconvenient operation and single function of the greenhouse rail operation platform.A multifunctional autonomous mobile operating platform for multi-span greenhouse cultivation.The mobile operating platform mainly uses visual navigation technology and RFID radio frequency identification and positioning technology to realize that the mobile operating platform is equipped with different supporting actuators,autonomous visual navigation,autonomous positioning and steering,and autonomous and accurate track change in the greenhouse.Test and test the overall performance of the mobile operating platform in the greenhouse.The research content of this article mainly includes the following four aspects:(1):Overall scheme design of autonomous mobile operating platform in multi-span greenhouse.According to the functional requirements of the design of the autonomous mobile operating platform,the characteristics of the multi-span greenhouse cultivation environment are analyzed.Based on the reference to the functions of different greenhouse operating machinery at home and abroad,the overall scheme design of the autonomous mobile operating platform is carried out,and the mechanical structure and control system,Autonomous navigation walking,drive system,etc.have carried out specific program design.Determine the mechanical structure of the autonomous mobile work platform and the design of the ground wheel,rail wheel,and rail guide wheel,respectively design the main structure of the autonomous mobile work platform and the ground wheel,rail wheel,and drive rail wheel that make up the wheel system,and determine the external dimensions of the mobile platform Parameters(L × W × H)1700 × 770 × 330mm,track wheel width 65mm,diameter 80mm,ground wheel width 20mm,diameter 80mm,guide wheel diameter 100mm,cylindrical surface 60mm,designed a combination for the anti-collision system of mobile work platform Ultrasonic sensor and anti-collision strip mechanism.(2):Research on the method of autonomous track change of mobile operating platform.Establish a motion model of the work platform,analyze the influence of the wheel system of the mobile work platform on the autonomous driving of the mobile work platform based on the size,navigation error and road conditions,and determine the autonomous driving-positioning turn-change of the mobile work platform based on visual navigation and RFID positioning In the rail scheme,the travel speed is set to 0.2m/s,and the load is divided into no-load or 300kg.The mobile operating platform was independently tested for autonomous navigation and straight-forward,autonomous rail-in-rail-out-rail replacement.According to the test data,the size of the wheel system and the autonomous walking plan are optimized.The size of the rear track guide wheel is unchanged,the size of the front track guide wheel is reduced by 5mm,the installation height of the rear universal wheel is unchanged,and the installation of the front universal wheel is increased.At a height of 5mm,the success rate of in-orbit-out is increased to 97%.By correcting the visual deflection of the turning deflection of the mobile working platform at the pipeline end,the rectification success rate is 95%.(3):Research on the autonomous positioning and navigation control method of the mobile operating platform:Aiming at the problem of the autonomous walking of the mobile operating platform in the greenhouse,the visual navigation technology was used to realize the autonomous driving of the mobile operating platform.The method of extracting the navigation line and correcting the navigation deflection angle were specifically studied.The mobile working platform has a visual running accuracy of 30mm under the condition of a straight travel speed of 0.2m/s.RFID radio frequency identification positioning technology is used to control the positioning of the mobile operating platform,and analysis of radio frequency identification positioning turns,navigation walking parameter calculation and selection of control components are analyzed.(4):Research on performance testing of mobile operating platform.Aiming at the functions of autonomous navigation,positioning,and track change of mobile operation platforms,the slope operation of the mobile operation platform,the navigation deviation test,the autonomous navigation straight-line driving test,and the mobile operation platform were tested on the prototype of the mobile operation platform in the laboratory and the multi-span greenhouse.Anti-collision system performance stability test,driving speed to RFID radio frequency identification positioning accuracy test and the overall function test of the supporting actuator on the second floor.The test results show that the mobile operating platform has the ability to autonomously drive and turn in the greenhouse.On this basis,it can develop greenhouse plant protection robots,greenhouse inspection robots,greenhouse transport robots,etc.Attributes.