Design And Experiment Of Tracked Power Chassis And Its Automatic Following System For Orchard In Hilly And Mountainous Areas

In recent years,with the rapid development of artificial intelligence and robot technology in the field of agriculture,mobile chassis robots have been widely used.Orchard mountain area is in the early stage of development with complex terrain and low degree of mechanical intelligence,so the development of agricultural machinery to intelligence has become the main goal at present.Therefore,it is of great significance to develop the research of intelligent mechanical equipment.According to the requirements of the project,a crawler power chassis is designed based on the orchard terrain in hilly and mountainous areas.The power chassis is used as the research platform,and the single chip microcomputer is used as the mobile terminal controller.With motor drive and wireless remote control,complete the power chassis walking control.Combined with ultrasonic sensors,build positioning system,complete the design of automatic follow system,and realize the function of automatic follow.The main research contents of this paper are as follows :(1)Structure design of orchard crawler transporter.Combined with the geographical environment and project requirements of mountainous orchards,the design requirements of tracked power chassis were proposed.After referring to a large number of orchard mobile chassis at home and abroad,the specific design scheme of tracked power chassis was finally determined.According to the design requirements,the walking part,power system and transmission system of tracked mobile chassis are designed and selected.On this basis,the prototype is developed to provide carrier for subsequent design and test.(2)The design of remote control and tracking system.Based on the power chassis,a remote control system is built,and the basic walking control of the power chassis is realized by using UART serial port.Based on the principle of ultrasonic ranging and trilateral positioning algorithm,an ultrasonic positioning system is designed and built.On this basis,the design of the automatic follow control system of the mobile chassis is completed.The speed control of the tracked power chassis is realized by PID control algorithm.Considering the safety performance,the obstacle avoidance system is set up to prevent collision in the follow process.(3)Power chassis system test.The test includes dynamic chassis performance test,remote control system unit test,automatic following system unit test and automatic following test.The test results show that the dynamic chassis performance meets the design requirements.The working time is 3-4 hours,the climbing slope can reach 35 °,and the climbing obstacle can reach 30 cm.Remote control system control performance meets the design requirements,remote control sensitivity reached 99 %,remote control distance reached 20 m;the ultrasonic ranging error is within 2cm.In the process of real-time tracking,the operation is stable,and the tracking accuracy error is within 4cm,which meets the design requirements.