Design And Key Technology Research Of Mobile Platform For Inspection Robot In Fruit And Vegetable Greenhouses

With the continuous improvement and development of artificial intelligence technology,robots have been widely used in the field of agricultural machinery and equipment.The use of agricultural robots to carry out the production tasks of spraying,picking and inspection scenes has become an indispensable means to improve the efficiency of agricultural production.But at present,the development of mobile robots in various aspects can not meet the multi-functional needs of modularization and intelligence in the agricultural industry,especially in the mechanical structure and control system of the robot in the application scenario of fruit and vegetable greenhouses,so a mobile platform for inspection robot which can be widely used in fruit and vegetable greenhouses is of profound significance to promote the rapid development of intelligent agricultural machinery and equipment industry.The research work in this paper mainly includes the following aspects:(1)According to the mobile platform R&D and design requirements and actual use scenario requirements,the design project and technical parameters of the mobile platform of inspection robot applied to fruit and vegetable greenhouses are formulated,the overall scheme of the mobile platform of inspection robot is designed,and the three-dimensional entity modeling of the mobile platform’s body structure and control system’s functional components is completed with Solidworks software combined with the analysis of its design factors Finally,the scheme of the drive system is designed in detail and the main functional components of the mobile platform are selected.(2)In view of the operation performance of the mobile platform of inspection robot in fruit and vegetable greenhouses,the motion control scheme of inspection robot is designed by using Matlab/Simulink simulation software.The curve planning model,kinematics model and dynamics model of the robot are established respectively,and the corresponding parameters are set up for simulation and verification.On the basis of the above model,the trajectory tracking controller is designed.By using the optimized controller to track the trajectory of the path planning curve,the change curves of the forward and normal errors are obtained,which show that the maximum error values are 4.5*10-3m and 5.1*10-3m respectively.The improved control algorithm reduces the forward and normal errors by 30.8%and 41.4%respectively.(3)Webots software is used to design the inspection robot simulation platform scheme.Combined with the actual work scene requirements of the robot,the world model of park simulation is established and the configuration parameters of each function module are set in the scene tree.The robot autonomous navigation system with three-dimensional perception function is constructed.The operation environment information of the inspection process is effectively obtained by using sensors,cameras and other sensing system devices,then write the motion control program to control the robot to realize the environment simulation,so as to complete the construction of the whole simulation platform,in which the control program uses the optimized control algorithm to plan the inspection path for simulation experiment verification,and analyzes the simulation results of the platform to verify the rationality of the simulation platform design.(4)The prototype of the mobile platform of inspection robot for fruit and vegetable greenhouse was built,and the test parameters are set up to test the in-situ steering error and curve track tracking.The accuracy of the control algorithm is verified by the path planning diagram design of the sample points of the system preset track.The test results show that the designed and optimized control algorithm can better achieve the robot running track and pre-set.The reliability of the system is verified by the basic coincidence of the planning trajectory.According to the comparative data analysis of the test results,the basic performance test and verification of the mechanical system and control system of the mobile platform of the inspection robot in fruit and vegetable greenhouses designed in this paper are completed.