發(fā)布時(shí)間：2018-01-13 07:42

  本文關(guān)鍵詞：基于光電開關(guān)圓弧陣列的溫室自主沿邊移動(dòng)平臺(tái)研發(fā)　出處：《江蘇大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 移動(dòng)平臺(tái) 沿邊導(dǎo)航 光電開關(guān) 圓弧陣列 位姿

【摘要】：在國(guó)內(nèi)溫室環(huán)境下,由于空間狹小、溫度濕度高、工作環(huán)境惡劣,員工需要進(jìn)行頻繁搬運(yùn)、施藥、采摘等作業(yè),勞動(dòng)強(qiáng)度大而效率低,溫室生產(chǎn)中急需物料搬運(yùn)和移動(dòng)作業(yè)機(jī)械,因此各種型式的溫室移動(dòng)作業(yè)機(jī)器人亦陸續(xù)出現(xiàn)。本研究來(lái)源于江蘇省重點(diǎn)科技支撐項(xiàng)目,針對(duì)溫室內(nèi)多作業(yè)工況以及通道行間的自動(dòng)作業(yè)等需求,開發(fā)了基于光電開關(guān)圓弧陣列的自主沿邊導(dǎo)航移動(dòng)作業(yè)平臺(tái),其研究主要內(nèi)容與成果如下:(1)從結(jié)構(gòu)簡(jiǎn)單,靈活性高,通用性強(qiáng)出發(fā),研發(fā)了六輪差速結(jié)構(gòu)的移動(dòng)平臺(tái)。設(shè)計(jì)了萬(wàn)向輪浮動(dòng)支撐結(jié)構(gòu)以保證移動(dòng)平臺(tái)的所有車輪同時(shí)著地,設(shè)計(jì)了作業(yè)模塊接口以實(shí)現(xiàn)作業(yè)模塊的切換與自動(dòng)識(shí)別。在Nx Nastran軟件環(huán)境下對(duì)移動(dòng)平臺(tái)骨架模型進(jìn)行了靜力學(xué)校核,最后對(duì)移動(dòng)平臺(tái)控制系統(tǒng)的關(guān)鍵電器元件以及電路進(jìn)行了設(shè)計(jì)。(2)針對(duì)現(xiàn)有溫室移動(dòng)機(jī)器人沿邊導(dǎo)航技術(shù)的精度與實(shí)時(shí)性不足等問(wèn)題,提出了一種基于光電開關(guān)圓弧陣列的沿邊導(dǎo)航方法。提出了基于圓弧陣列理想目標(biāo)帶原理的位姿檢測(cè)與調(diào)控方法,并建立了基于光電圓弧陣列信號(hào)觸發(fā)數(shù)與觸發(fā)中心序號(hào)雙指標(biāo)的沿邊位姿檢測(cè)模型,按照該雙指標(biāo)的不同閾值進(jìn)行移動(dòng)平臺(tái)位姿狀態(tài)歸類并觸發(fā)控制系統(tǒng)調(diào)用對(duì)應(yīng)的調(diào)控軌跡程序,進(jìn)而根據(jù)由該雙指標(biāo)數(shù)值計(jì)算得到的準(zhǔn)確位姿給定各調(diào)控軌跡參數(shù),實(shí)現(xiàn)實(shí)時(shí)的沿邊導(dǎo)航。(3)實(shí)驗(yàn)驗(yàn)證結(jié)果表明,在0.15m/s行進(jìn)速度內(nèi),移動(dòng)平臺(tái)的沿邊位置與姿態(tài)偏差分別保持在-35mm~+15mm和-5°~+5°范圍內(nèi),能夠滿足實(shí)際施藥、搬運(yùn)等作業(yè)的行走需求。同時(shí)移動(dòng)平臺(tái)的調(diào)控周期約為2m,實(shí)現(xiàn)了溫室內(nèi)低調(diào)控頻度的沿邊平順導(dǎo)航,并且沿下沉路沿行走時(shí),能夠適應(yīng)300mm長(zhǎng)的雜物。該方法為實(shí)現(xiàn)溫室環(huán)境下的低成本快速沿邊導(dǎo)航提供了新的技術(shù)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 擄~ 5 擄, 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.
【學(xué)位授予單位】：江蘇大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242;S625

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