温室自主沿边导航的移动平台设计与试验

Curb-following Experiments and Design of Greenhouse Vehicle

本研究根据规范化建设的温室行间道路环境及多作业工况等要求,开发了六轮式差速结构移动平台。针对移动平台的承载、转弯灵活性等要求,进行了移动平台承载结构设计;针对多作业模块换接与操控简单性要求,设计了多功能作业模块接口及控制电路。同时,提出了一种基于光电圆弧的沿边导航方法,通过侧向布置的光电圆弧来获取温室移动平台相对于路沿的位姿信息,并基于此位姿信息设计了沿边控制方法。最后,对移动平台进行了直线行走、作业模块搭载及沿边行走试验,结果表明:移动平台实际速度约为理论速度的92%,能够顺利地识别作业模块,且在0.15m/s速度内沿边行走的位置偏差保持在-35^+15mm,能够满足一般温室作业需求。

A curb-following mobile platform of differential speed drive structure with six wheels was designed based on the environment and multi-working modes in greenhouse.The support structure was designed according to the bearing capacity and the flexibility of the mobile platform.Multi-operation module interface and control circuit was designed aiming at the simpleness of both changing operation module and manipulation.A curb line following navigation method based on photoelectric arc was proposed.The mobile platform＇s position and orientation based on which a curb line following control method was designed were obtained according to states of photoelectric switches which were fixed on one side of mobile platform in arc shape.Finally,Linear walking experiment,operation modules loading experiment and curb-following experiment was made.The experiment showed that the actual velocity of mobile platform was 92% of the theoretical speed,the operation module was successfully identified,and the position deviation was within-35 mm-＋ 15 mm which can meet the demand of greenhouse general operations while following the curb at a speed of 0.15 m/s.