基于uC/OS-Ⅲ系统全向型农业测控平台的设计与试验

Design and Experiment of Omnidirectional Agricultural Measurement and Control Platform Based on uC/OS-Ⅲ System

针对目前农业移动平台的移动灵活性及工作稳定性差等问题,利用机器人运动学对Mecanum轮全向运动能力进行理论分析,研制了一种基于uC/OS-Ⅲ系统的全向型农业测控平台,用于搭载农业机器人在复杂的作业环境中实现全向移动和田间信息采集,减轻劳动强度,提高劳动效率。该平台分为五部分:机械主体部分、环境检测系统、控制系统、操作系统及动力系统;通过机器人运动学的分析与计算、Mecanum轮轮组系统与平台运动坐标系的映射关系分析,获得实现全方位运动的必要条件与最佳的轮组结构布局,进而实现了稳定迅速的全向移动能力;通过uC/OS-Ⅲ操作系统对任务进行管理和调度,实现运动平台对作业环境的温湿度、光照强度、定位信息的检测与反馈。最后进行了平台的整体实验与验证,结果表明该平台实现了全向运动并具有较高的工作稳定性。

In order to solve the problems of poor mobility and poor working stability of the current agricultural mobileplatform, a kind of omnidirectional integrated monitoring and control platform based on uC / OS-Ⅲ system was developedby using the theoretical analysis of robot kinematics and the omnidirectional motion ability of Mecanum wheel. It is used tocarry agricultural robot in complex operation environment to realize omnidirectional movement and field informationcollection, reduce labor intensity and improve labor efficiency. The platform is divided into five parts： mechanical parts,environmental detection system, control system, operating system and power system. Through the analysis and calculation ofrobot kinematics and the analysis of mapping relation between Mecanum wheel group system and platform motioncoordinate system, the necessary conditions and the optimal wheel group structure layout for realizing omnidirectionalmotion are obtained. Furthermore, stable and rapid omnidirectional mobility is realized.