Design Of Orchard-to-Target Lidar Device Based On Wireless Power Supply And Transmission Technology

One of the key technologies for orchard spraying of target variables is target information detection,and the basis of target detection technology is the selection or design of sensors.Laser mines have high resolution,are not affected by ambient light,and have strong anti-interference capabilities.Therefore,they are widely used in agriculture.However,due to the complex agricultural environment,the operating environment is more demanding than the industrial environment.Therefore,the industrial lidar commonly used in the market may not meet the requirements of agricultural environmental operations.When the team used the industrial lidar for the target test in the orchard,the lidar was damaged due to excessive bumps in the road surface.In addition,high-precision industrial lidar is expensive,and there is no supporting software suitable for orchard operations,which makes the orchard less versatile for target sprayer transplantation,which is not conducive to the promotion of agricultural automation equipment.Therefore,this paper designs an orchard-to-target lidar device based on wireless power supply and transmission that can be used in mountain orchard environments.The main research contents of this article are:(1)According to the target design requirements of the orchard,the overall design plan of the lidar device is determined,and the application software and hardware interaction requirements are clarified.Designed a laser radar device that combines laser ranging data,angle data,encoder data,attitude information multi-source information,by Arduino MAGE256 and STM32 stand-alone,TOF laser module,angle sensor,rotary encoder,wireless communication module,It consists of wireless power supply,42 stepper motor,A4988 motor drive module and buck module,and the above hardware modules are reasonably arranged to form a complete lidar target system.The device innovatively adopts wireless power supply and wireless transmission technology,removes the vulnerable slip ring components,and greatly improves the laser radar’s ability to resist damage.The driver board of the integrated stepper motor with closed-loop control is designed,and it will not lose steps when sampling at high speed;and the power supply system of the microcontroller and the driver is optimized to make it more stable and reliable.(2)In view of the different orchard environments and the wide variety of orchard spray models,the communication protocol and the target software for the target system are designed to be more versatile.Wait to make initialization parameter settings.The target software simultaneously collects 2D lidar(X,Y axis),1D rotary encoder(Z axis)and IMU attitude information(car status)data,and filters,analyzes,merges the collected data,and corrects the lidar The measured data can obtain the relevant characteristic information of the target and lay the foundation for spraying decision.(3)Carried out tests and experiments,and designed a trolley test platform.First,the target detection test was conducted on regular objects.The test results show that the shape of the target can be effectively reduced,and the relative error between the regular volume and the actual volume is within 9%.Secondly,a fruit tree target detection test was carried out.The relative error of the detected fruit tree volume and its manually measured volume is a minimum of 9.86% and a maximum of 11.97%.This shows that the designed lidar device can meet the needs of orchard target detection.