温室作业车辆行走控制技术与装备
发布时间：2019-04-19 00:27
【摘要】：农业机器人广泛应用于温室内的物料运输和信息采集,如今随着国内外针对农用车辆导航技术的研究不断深入,基于温室非结构化特点的设施农业作业车辆行走导航成为研究的关键技术之一。针对我国温室垄间空间结构狭小的特点,本文设计了一种具有协同作业及定点巡航功能的磁导式车辆控制系统及装备,利用磁导航技术实现作业车辆在温室垄间的自主导航,并设计模糊PID路径跟踪算法提高导航精度,并利用MATLAB/Simulink对该控制系统模型进行仿真分析。在磁导航的基础上,通过加权融合算法提高测距模块的测量精度,实现作业车辆的精准跟随;通过磁地标传感器实现车辆在温室内的定点巡航。为了验证控制系统可行性,本文设计研制磁导式作业车辆行走控制系统硬件,并结合软件系统的设计和调试,在温室垄间进行试验验证。论文主要研究内容如下:(1)根据温室作业车辆行走机构的性能指标,采用履带式行走机构实现车辆在温室垄间的自动导航。针对温室作业车辆转向控制问题,提出基于履带式温室生境信息采集车辆结构,以导航速度和导航过程中磁导航传感器中心点与预设导引路径的横向偏差为变量,建立温室车辆运动模型。。(2)根据磁导式温室履带车辆协同作业和定点巡航功能的设计要求,对车辆控制系统主体结构进行介绍,并对构成控制系统的主控制器、磁导航模块、测距模块、定位模块、驱动模块、电源模块进行选型和相关电路设计。重点对主控制器模块和传感器模块进行详细分析和描述,并设计STC15W4K56S4单片机最小系统电路,其中包括电源电路、时钟电路和复位电路。由于控制系统上电时的不稳定状态或者运行过程中的程序跑偏等情况,通过外部复位电路手动恢复控制系统初始化工作状态。采用16个霍尔传感器组成磁信号检测整列,提高导航信息检测的稳定性问题。在温室作业车辆行走控制系统硬件设计的基础上,构建行走控制系统软件,从而协调各功能模块的有效运行。针对各功能模块的实现流程给出磁导式温室作业车辆控制系统软件结构,通过C语言在Keil?Vision4开发环境下对程序进行编译。(3)对温室作业车辆行走控制系统算法进行设计和仿真验证。采用加权融合算法对测距模块不同传感器的测量值进行加权融合。采用模糊PID算法作为作业车辆的导航算法,根据温室作业车辆行走系统运动模型,在MATLAB/Simulink平台中建立作业车辆路径跟踪仿真系统,结果表明:行走控制系统能够根据偏差信号,在0.5 s内恢复到稳定状态;当系统达到稳定状态时加入尖峰干扰脉冲信号,系统能够在0.5s内恢复稳定,验证该算法的可行性和有效性。(4)以履带式温室生境信息采集车辆为实验平台,在江苏大学温室进行导航试验。试验结果表明:在温室垄间地面,当行驶速度为1 m/s时,作业车辆的人机跟随距离误差小于5 cm;当车辆的行驶速度为0.4-1 m/s时,在定点巡航试验中,驻车后车辆中心与设定的生境信息监测点的距离不超过0.3 cm;当作业车辆行驶速度为1m/s时,5 m内的直线段导航横向误差小于2.6 cm;当车辆在温室垄头以半径为0.75m实现圆曲线路径跟踪,作业车辆的行驶速度不超过0.3m/s时,路径跟踪的最大横向偏差为2.7 cm。试验结果验证控制算法具有较好的鲁棒性与实时性。
[Abstract]:The agricultural robot is widely used in the material transportation and information collection in the greenhouse, and now, with the development of the navigation technology of the agricultural vehicle at home and abroad, the vehicle walking navigation based on the non-structural characteristics of the greenhouse has become one of the key technologies of the research. Aiming at the characteristics of the narrow space structure of the greenhouse in China, a magnetic guided vehicle control system and equipment with a cooperative operation and a fixed-point cruise function are designed, and the autonomous navigation of the working vehicle in the greenhouse is realized by using the magnetic navigation technology, And the fuzzy PID path tracking algorithm is designed to improve the navigation precision, and the control system model is simulated and analyzed by using MATLAB/ Simulink. On the basis of magnetic navigation, the measurement accuracy of the ranging module is improved by a weighted fusion algorithm, and the accurate follow-up of the operation vehicle is realized; and the fixed-point cruise of the vehicle in the greenhouse is realized through the magnetic landmark sensor. In order to verify the feasibility of the control system, the hardware of the running control system of the magnetic conduction type working vehicle is designed and developed, and the design and debugging of the software system are combined, and the test verification is carried out between the green houses. The main contents of this paper are as follows: (1) According to the performance index of the vehicle running mechanism of the greenhouse, the crawler-type walking mechanism is adopted to realize the automatic navigation of the vehicle in the greenhouse. In view of that problem of vehicle steering control for greenhouse operation, a vehicle structure is proposed based on the information acquisition of the crawler-type greenhouse habitat, and the model of the greenhouse vehicle motion is established by using the lateral deviation of the center point of the magnetic navigation sensor and the preset guide path in the navigation speed and the navigation process as a variable. (2) the main controller, the magnetic navigation module, the distance measuring module, the positioning module and the driving module which form the control system are introduced according to the design requirements of the collaborative operation of the magnetic guide type greenhouse track vehicle and the fixed-point cruise function, the main controller, the magnetic navigation module, the distance measuring module, the positioning module and the driving module which form the control system are provided, The power module is selected and the relevant circuit design is involved. The main controller module and the sensor module are analyzed and described in detail, and the minimum system circuit of the STC15W4K56S4 single-chip computer is designed, including the power supply circuit, the clock circuit and the reset circuit. The operation state of the control system is manually restored by the external reset circuit due to the unstable state at the power-up of the control system or the deviation of the program during operation. And 16 Hall sensors are adopted to form a magnetic signal detection whole column, and the stability problem of the navigation information detection is improved. On the basis of the hardware design of the walking control system of the greenhouse operation vehicle, the software of the walking control system is constructed, so as to coordinate the effective operation of the functional modules. The software structure of the control system of the magnetically guided greenhouse is given according to the realization flow of each function module, and the program is compiled by the C language in the development environment of the Keil? Vision4. And (3) carrying out design and simulation verification on the walking control system algorithm of the greenhouse operation vehicle. And the weighted fusion algorithm is adopted to carry out weighted fusion on the measured values of different sensors of the ranging module. The fuzzy PID algorithm is used as the navigation algorithm of the working vehicle. According to the motion model of the vehicle running system of the greenhouse, the simulation system for the track of the working vehicle is established in the MATLAB/ Simulink platform. The results show that the walking control system can recover to the stable state within 0.5s according to the deviation signal. When the system reaches a stable state, a spike interference pulse signal is added, so that the system can recover the stability within 0.5 s, and the feasibility and the effectiveness of the algorithm can be verified. And (4) collecting the vehicle as an experimental platform by using the crawler-type greenhouse habitat information acquisition vehicle, and performing navigation test on the greenhouse of the university of Jiangsu. The test results show that when the running speed is 1 m/ s, the man-machine follow-distance error of the working vehicle is less than 5 cm when the running speed is 1 m/ s, and when the running speed of the vehicle is 0.4-1 m/ s, in the fixed-point cruise test, the distance between the center of the parking rear vehicle and the set habitat information monitoring point is not more than 0.3 cm; when the running speed of the working vehicle is 1 m/ s, the horizontal error of the straight segment navigation in the 5m is less than 2.6cm; when the vehicle is in the greenhouse, the circular curve path tracking is realized at the radius of 0.75m, When the running speed of the working vehicle is not more than 0.3 m/ s, the maximum lateral deviation of the path tracking is 2.7 cm. The test result verification control algorithm has good robustness and real-time performance.
【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】：S22
[Abstract]:The agricultural robot is widely used in the material transportation and information collection in the greenhouse, and now, with the development of the navigation technology of the agricultural vehicle at home and abroad, the vehicle walking navigation based on the non-structural characteristics of the greenhouse has become one of the key technologies of the research. Aiming at the characteristics of the narrow space structure of the greenhouse in China, a magnetic guided vehicle control system and equipment with a cooperative operation and a fixed-point cruise function are designed, and the autonomous navigation of the working vehicle in the greenhouse is realized by using the magnetic navigation technology, And the fuzzy PID path tracking algorithm is designed to improve the navigation precision, and the control system model is simulated and analyzed by using MATLAB/ Simulink. On the basis of magnetic navigation, the measurement accuracy of the ranging module is improved by a weighted fusion algorithm, and the accurate follow-up of the operation vehicle is realized; and the fixed-point cruise of the vehicle in the greenhouse is realized through the magnetic landmark sensor. In order to verify the feasibility of the control system, the hardware of the running control system of the magnetic conduction type working vehicle is designed and developed, and the design and debugging of the software system are combined, and the test verification is carried out between the green houses. The main contents of this paper are as follows: (1) According to the performance index of the vehicle running mechanism of the greenhouse, the crawler-type walking mechanism is adopted to realize the automatic navigation of the vehicle in the greenhouse. In view of that problem of vehicle steering control for greenhouse operation, a vehicle structure is proposed based on the information acquisition of the crawler-type greenhouse habitat, and the model of the greenhouse vehicle motion is established by using the lateral deviation of the center point of the magnetic navigation sensor and the preset guide path in the navigation speed and the navigation process as a variable. (2) the main controller, the magnetic navigation module, the distance measuring module, the positioning module and the driving module which form the control system are introduced according to the design requirements of the collaborative operation of the magnetic guide type greenhouse track vehicle and the fixed-point cruise function, the main controller, the magnetic navigation module, the distance measuring module, the positioning module and the driving module which form the control system are provided, The power module is selected and the relevant circuit design is involved. The main controller module and the sensor module are analyzed and described in detail, and the minimum system circuit of the STC15W4K56S4 single-chip computer is designed, including the power supply circuit, the clock circuit and the reset circuit. The operation state of the control system is manually restored by the external reset circuit due to the unstable state at the power-up of the control system or the deviation of the program during operation. And 16 Hall sensors are adopted to form a magnetic signal detection whole column, and the stability problem of the navigation information detection is improved. On the basis of the hardware design of the walking control system of the greenhouse operation vehicle, the software of the walking control system is constructed, so as to coordinate the effective operation of the functional modules. The software structure of the control system of the magnetically guided greenhouse is given according to the realization flow of each function module, and the program is compiled by the C language in the development environment of the Keil? Vision4. And (3) carrying out design and simulation verification on the walking control system algorithm of the greenhouse operation vehicle. And the weighted fusion algorithm is adopted to carry out weighted fusion on the measured values of different sensors of the ranging module. The fuzzy PID algorithm is used as the navigation algorithm of the working vehicle. According to the motion model of the vehicle running system of the greenhouse, the simulation system for the track of the working vehicle is established in the MATLAB/ Simulink platform. The results show that the walking control system can recover to the stable state within 0.5s according to the deviation signal. When the system reaches a stable state, a spike interference pulse signal is added, so that the system can recover the stability within 0.5 s, and the feasibility and the effectiveness of the algorithm can be verified. And (4) collecting the vehicle as an experimental platform by using the crawler-type greenhouse habitat information acquisition vehicle, and performing navigation test on the greenhouse of the university of Jiangsu. The test results show that when the running speed is 1 m/ s, the man-machine follow-distance error of the working vehicle is less than 5 cm when the running speed is 1 m/ s, and when the running speed of the vehicle is 0.4-1 m/ s, in the fixed-point cruise test, the distance between the center of the parking rear vehicle and the set habitat information monitoring point is not more than 0.3 cm; when the running speed of the working vehicle is 1 m/ s, the horizontal error of the straight segment navigation in the 5m is less than 2.6cm; when the vehicle is in the greenhouse, the circular curve path tracking is realized at the radius of 0.75m, When the running speed of the working vehicle is not more than 0.3 m/ s, the maximum lateral deviation of the path tracking is 2.7 cm. The test result verification control algorithm has good robustness and real-time performance.
【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】：S22
【参考文献】
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