Design And Research Of Autonomous Navigation Control System For Fuel-powered Robot

Since the "13th Five-Year Plan",the concept of "smart agriculture" has gradually penetrated into people and guided the modernization of China’s agricultural machinery.Agricultural robots are one of the important topics.The wolfberry industry in Ningxia Hui Autonomous Region has developed rapidly in recent years and has become one of Ningxia’s business cards.However,most of the mobile platforms in its agricultural production equipment are mainly artificial mechanical equipment,and related intelligent equipment still existing problems such as greater difficulty in design and higher cost in the theoretical stage.This research mainly uses wolfberry farmland roads as the experimental object,comprehensively applying computer vision,automatic control technology,power electronics technology,mechanical design and manufacturing,and computer technology to carry out the design and research of intelligent agricultural robots with large loads and autonomous farmland navigation capabilities.The main work of this paper includes the following points:(1)Starting from the overall design of the fuel-powered robot platform,with the goal of building a wheeled robot mobile platform,the main functional requirements of the fuelpowered robot,the overall system architecture design,and the design of the steering gear servo throttle control system to achieve the robot speed Control,high-torque steering gear controls the steering system,and DC deceleration motor controls the braking system.(2)Then design and research the robot control circuit,which mainly includes power supply module,DC-DC step-down module,bottom motor drive module,wireless transmission module,Raspberry Pi main controller,and I/O expansion circuit module.Among them,in order to realize the controllable switch between manual mode and emergency stop mode,the system selects 74 series logic chip HC4066 D and single inverter chip SN74LVC1G04 DCKT produced by Philips,and independently designs a drive board signal control circuit.The control switching circuit mainly includes a wireless receiving and transmitting module,a four-way analog switch chip and an inverter chip,etc.(3)Then researched and designed the navigation control system of the agricultural robot in the wolfberry farmland,studied the image segmentation of the collected unstructured farmland road image,and converted the image from the RGB color space to the HSL color space.The H component which is not affected by illumination is used as the image segmentation object.The process of acquiring images,median filtering,threshold segmentation,center path extraction,etc.are described in detail.According to the actual farmland road environment,this topic selects the commonly used clustering segmentation algorithm K-means clustering algorithm as the image segmentation of the image processing algorithm.(4)Researched and established the kinematics model of the wheeled mobile robot,obtained the motion law of the mobile platform and proposed an autonomous navigation control strategy for the wheeled mobile robot based on dynamic tracking of navigation points.Through field experiments,in the autonomous navigation mode of the fuel-powered robot,the maximum lateral deviation between the actual navigation path and the centerline of the field road does not exceed 10 cm,and can complete the autonomous correction route within2 m.And complete the development of the Internet of Things APP to realize the remote control of the robot.