基于光电开关圆弧阵列的温室自主沿边移动平台研发

发布时间：2018-01-13 07:42

本文关键词：基于光电开关圆弧阵列的温室自主沿边移动平台研发　出处：《江苏大学》2017年硕士论文　论文类型：学位论文

【摘要】：在国内温室环境下,由于空间狭小、温度湿度高、工作环境恶劣,员工需要进行频繁搬运、施药、采摘等作业,劳动强度大而效率低,温室生产中急需物料搬运和移动作业机械,因此各种型式的温室移动作业机器人亦陆续出现。本研究来源于江苏省重点科技支撑项目,针对温室内多作业工况以及通道行间的自动作业等需求,开发了基于光电开关圆弧阵列的自主沿边导航移动作业平台,其研究主要内容与成果如下:(1)从结构简单,灵活性高,通用性强出发,研发了六轮差速结构的移动平台。设计了万向轮浮动支撑结构以保证移动平台的所有车轮同时着地,设计了作业模块接口以实现作业模块的切换与自动识别。在Nx Nastran软件环境下对移动平台骨架模型进行了静力学校核,最后对移动平台控制系统的关键电器元件以及电路进行了设计。(2)针对现有温室移动机器人沿边导航技术的精度与实时性不足等问题,提出了一种基于光电开关圆弧阵列的沿边导航方法。提出了基于圆弧阵列理想目标带原理的位姿检测与调控方法,并建立了基于光电圆弧阵列信号触发数与触发中心序号双指标的沿边位姿检测模型,按照该双指标的不同阈值进行移动平台位姿状态归类并触发控制系统调用对应的调控轨迹程序,进而根据由该双指标数值计算得到的准确位姿给定各调控轨迹参数,实现实时的沿边导航。(3)实验验证结果表明,在0.15m/s行进速度内,移动平台的沿边位置与姿态偏差分别保持在-35mm~+15mm和-5°~+5°范围内,能够满足实际施药、搬运等作业的行走需求。同时移动平台的调控周期约为2m,实现了温室内低调控频度的沿边平顺导航,并且沿下沉路沿行走时,能够适应300mm长的杂物。该方法为实现温室环境下的低成本快速沿边导航提供了新的技术思路。
[Abstract]:In the domestic greenhouse environment, due to the small space, high temperature and humidity, poor working environment, employees need to carry out frequent handling, spraying, picking and other operations, labor intensity and low efficiency. Material handling and moving machines are urgently needed in greenhouse production, so various types of greenhouse mobile robots have appeared one after another. This research comes from the key scientific and technological support projects in Jiangsu Province. In order to meet the needs of multi-working conditions in greenhouse and automatic operation between channels, a mobile platform for autonomous edge navigation based on photoelectric switch arc array is developed. The main contents and results of the research are as follows: (1) from the point of view of simple structure, high flexibility and strong generality. A six-wheel differential mobile platform is developed, and a universal wheel floating support structure is designed to ensure that all the wheels of the mobile platform land at the same time. The interface of the job module is designed to realize the switch and automatic recognition of the job module. The framework model of the mobile platform is checked statically under the environment of NX Nastran software. Finally, the key electrical components and circuits of the mobile platform control system are designed. In this paper, a method of edge navigation based on photoelectric switch arc array is proposed, and a method of position and pose detection and control based on the principle of ideal target band of arc array is presented. The edge position detection model based on the trigger number and the sequence number of the trigger center of the photoelectric arc array is established. According to the different thresholds of the two indexes, the position and pose status of the mobile platform is classified and the corresponding control program is called by the trigger control system. Furthermore, according to the accurate position and orientation obtained by the double-index numerical calculation, the real time navigation along the edge is realized. The experimental results show that it is within 0.15 m / s travel speed. The side position and attitude deviation of the mobile platform are kept in the range of -35mm ~ 15mm and -5 掳~ 5 掳, respectively, which can satisfy the actual application. At the same time, the control period of the mobile platform is about 2 m, which realizes the smooth navigation along the edge of the low frequency control in the greenhouse, and walks along the sinking road. This method can adapt to 300mm long sundries. This method provides a new technical idea for realizing low cost and fast edge navigation in greenhouse environment.
【学位授予单位】：江苏大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242;S625

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