CN106338994A - Greenhouse logistics plant protection robot control system and method - Google Patents
Greenhouse logistics plant protection robot control system and method Download PDFInfo
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- CN106338994A CN106338994A CN201610887534.XA CN201610887534A CN106338994A CN 106338994 A CN106338994 A CN 106338994A CN 201610887534 A CN201610887534 A CN 201610887534A CN 106338994 A CN106338994 A CN 106338994A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 239000007921 spray Substances 0.000 claims abstract description 48
- 238000001514 detection method Methods 0.000 claims abstract description 37
- 230000008569 process Effects 0.000 claims abstract description 5
- 241000196324 Embryophyta Species 0.000 claims description 53
- 238000005507 spraying Methods 0.000 claims description 45
- 235000013311 vegetables Nutrition 0.000 claims description 18
- 235000013399 edible fruits Nutrition 0.000 claims description 15
- 230000005021 gait Effects 0.000 claims description 14
- 230000008859 change Effects 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 9
- 239000003814 drug Substances 0.000 claims description 8
- 238000005516 engineering process Methods 0.000 claims description 7
- 230000002093 peripheral effect Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 229940079593 drug Drugs 0.000 claims description 6
- 238000013178 mathematical model Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 239000003595 mist Substances 0.000 claims description 4
- 241000208340 Araliaceae Species 0.000 claims description 3
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 3
- 235000003140 Panax quinquefolius Nutrition 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 235000008434 ginseng Nutrition 0.000 claims description 3
- 238000012856 packing Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 210000004247 hand Anatomy 0.000 claims description 2
- 230000008676 import Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000032258 transport Effects 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000013139 quantization Methods 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/02—Watering arrangements located above the soil which make use of perforated pipe-lines or pipe-lines with dispensing fittings, e.g. for drip irrigation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- Life Sciences & Earth Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a greenhouse logistics plant protection robot control system. The technical scheme employed by the system is that the greenhouse logistics plant protection robot control system comprises an operation parameter configuration system, a detection system and a control system. The operation parameter configuration system generates logistics plant protection robot operation parameter sets suitable for different growth periods in different crop plantation modes at a server end; the detection system feeds detection data back to a single-chip microcomputer through sensors so as to form a closed-loop control system; and the control system mainly processes data information sent by the sensors and mobile phones and completes spray operation or logistics transportation through control of the single-chip microcomputer. The invention provides a greenhouse logistics plant protection robot control method. Remote configuration of operation parameters corresponding to a spray mode or a logistics mode is realized, a greenhouse logistics plant protection robot is controlled to complete the spray operation or the logistics transportation, and position information and a current working condition of the greenhouse logistics plant protection robot are displayed in real time through an electronic map interface in control software of mobile phone client.
Description
Technical field
The invention belongs to agricultural mechanical field is and in particular to a kind of greenhouse logistics plant protection robot control system and method,
Complete to transport based on pinpoint spraying operation and material in heliogreenhouse, realize intelligent, lighting and Automated condtrol.
Background technology
China is industrialized agriculture big producing country, and area and yield are sure to occupy first place in the world, and green house sets as China
Apply the main body of agricultural industry, become most effective industry in agricultural planting in recent years.Plant growing has been broken in its appearance
Region and space-time boundary, be vegetable dull season supply, energy saving, promote agricultural sector structure adjustment etc. to be made that historic tribute
Offer.With the fast development of heliogreenhouse, the equipment for plant protection of vegetable in greenhouse, transport vehicle have become as the focus of development.
On the one hand, the preventing and treating of current facilities vegetable pest and disease damage is mainly completed by spraying medicine, traditional spraying in greenhouse
Mode, such as knapsack sprayer, power driven mist blower whole process need manpower to participate in, and efficiency is low, wastes time and energy, simultaneously greenhouse spraying operation
Big to human body infringement.Because in greenhouse, long-term cropping species is various, and the density degree of different growing stages crop is different, therefore will
The essence realizing spraying operation quantifies to need the work pattern of spraying is control effectively with precision dispenser.
On the other hand, the logistics carriage development in greenhouse is relatively slower, and existing logistics trolley exists and cannot accurately determine
The problems such as position and automatic running, mostly need to manually control direction, speed and the stop position that it is advanced, lavish labor on, material
Transport has become one of laborious production link of work consuming in greenhouse.
Therefore, not high for the mechanization of greenhouse spraying and logistics transportation equipment presence, automaticity, by topographic space
Limit, the problems such as effect difference, in the urgent need to inventing a kind of greenhouse logistics plant protection robot control system and method, to complete daylight
It is based on pinpoint spraying operation in greenhouse and material transports, realize intellectuality, lighting, essence quantization and Automated condtrol.
Content of the invention
In order to solve problem present in the spraying of sunlight indoor crops and material transportation, the invention provides a kind of greenhouse
Logistics plant protection robot control system and method, realize Remote configuration spray pattern or the corresponding job parameter of logistic pattern, control
Greenhouse logistics plant protection robot processed completes spraying operation or logistics transportation, and by the electronics in the control software of cell-phone customer terminal
Map interface shows positional information and the present behavior of greenhouse logistics plant protection robot in real time.
The technical scheme that a kind of logistics plant protection robot control system in greenhouse of the present invention is adopted: include job parameter configuration
System, detecting system and control system.Described job parameter configuration system, generates Different Crop cropping pattern in server end
In the suitable logistics plant protection robot job parameter collection of different growing stages；Described detecting system, will detect number by sensor
According to feeding back to single-chip microcomputer, constitute the control system of a closed loop；Described control system, main process sensor and mobile phone are sent out
The data message sent, and spraying operation or logistics transportation are completed by the control of single-chip microcomputer.
Described job parameter configuration system includes spray pattern parameter configuration and logistic pattern parameter configuration.Described spray
Mist mode parameter configures: the related chamber operation parameter of exploitation calculates pc machine software, and operator input in greenhouse on pc machine
The parameter directly perceived obtaining, calculates, by pc machine software, the parameter that single-chip microcomputer can identify automatically.Obtain in its medium temperature chamber is straight
See the height degree that parameter includes plant type, density degree, the size of blade, plant strain growth；Needed for logistics plant protection robot
Job parameter collection include: robot gait of march, mist flow, blower fan wind rotating speed, luffing angle, luffing speed, angle of revolution
Degree, speed of gyration.In greenhouse, plant type is divided into dense planting green vegetable and two kinds from wall type fruit and vegerable Planting Patterns, thus spraying square
Formula is divided into dense planting green vegetable plantation spray pattern and plants spray pattern from wall type fruit and vegerable.
Dense planting green vegetable plantation spray pattern under, scalable robot gait of march, uninterrupted, wind-force size,
Luffing angle, luffing speed, angle of revolution, speed of gyration, realize planting class to dense planting green vegetable while robot advances
Type completes spraying operation, shows the current location information of robot in real time by mobile phone electronic map, and by electronic chart
The color of spraying row becomes red display spraying performance by green.Operator are on the pc machine being provided with parameter software for calculation
After |input paramete, pc machine application program exports the discernible parameter of single-chip microcomputer automatically by following computing formula.
vrobot=∫ 1/dxdx (10 > x > 0)
In above formula, vrobotFor the gait of march of robot, unit is m/s；D is the density degree of leaf it is recommended that value 3～8；
X is robot forward acceleration constant, and unit is m/s2.
θh=((θ_r-θ_l)/2π+l/r)×kh
In above formula, θhFor the angle of robotic spray apparatus revolution, unit is rad；θ_rFor line and advance side of robot
To angle, wherein line is the line of the point of point and two row centre position near-ends of the right row distalmost end, and unit is to spend；θ_lFor
Line and the angle of robot direction of advance, wherein line are the point of left line distalmost end and the point of two row centre position near-ends
Line, unit is degree；L is row length, and unit is m；R is the distance of robot to row near-end, and unit is m；khFor corrected parameter, push away
Recommend 1.1～1.3.
θv=((θ_up-θ_down)/2π+h/r)×kv
In above formula, θvFor the angle of robotic spray apparatus pitching, unit is rad；θ_upFor the angle of line and ground,
Wherein line is the line with robot barycenter for the point of plant canopy of plant row most proximal end, and unit is degree；θ_downFor line with
The angle on ground, wherein line are the line with robot barycenter for the point of plant root of plant row distalmost end, and unit is degree；h
For robot barycenter height from the ground, unit is m；R is the distance of robot to row near-end, and unit is m；kvFor revising ginseng
Number is it is recommended that 0.8～1.2.
vh-rotation=d × θh/t
In above formula, vh-rotationFor speed of gyration, unit is rad/s；The density degree of d leaf is it is recommended that value 2～8；θhFor
The angle of robotic spray apparatus revolution, unit is rad；T is time constant, and unit is s it is recommended that 40～60.
vv-rotation=d × θv/t
In above formula, vv-rotationFor luffing speed, unit is rad/s；The density degree of d leaf is it is recommended that value 2～8；θvFor
The angle of robotic spray apparatus pitching, unit is rad；T is time constant, and unit is s it is recommended that 40～60.
Q=s × v ∫ 1/ (t+1) dt × s
In above formula, q is the size of flow, and unit is l/min；S is the sectional area of pipeline, and unit is dm2；V is flow velocity, single
Position is m/s, and t is the coefficient of flow, and t starts to increase from 0.5；S is the size of blade, and unit is dm2It is recommended that 0.3～1.5.
vwindow-scale=d × (2- θh×θv)/t2+kw
In above formula, vwind-scaleFor the size of wind-force, unit is m/s；The density degree of d leaf is it is recommended that value 2～8；θhFor
The angle of robotic spray apparatus revolution, unit is rad；θvFor the angle of robotic spray apparatus pitching, unit is rad；T is
Time constant, unit is s it is recommended that 40～60；kwFor corrected parameter it is recommended that 2～4.
Under wall type fruit and vegerable plantation spray pattern, control machine People's Bank of China to enter to reach specified location, control uninterrupted, wind
Power size, luffing angle, luffing speed, angle of revolution, speed of gyration, realize reaching and specify spraying row to complete from wall type fruit and vegerable kind
Plant the accurate spraying operation of type, show the current location information of robot by mobile phone electronic map in real time, and pass through electronics
Capable color of spraying on map becomes red display spraying performance by green.Carrying out practically parametric mathematical model is as follows:
vrobot={ 0, v, 0, v... }
In above formula, vrobotFor the gait of march of robot, unit is m/s；Due to needing from wall type fruit and vegerable Planting Patterns
In the ranks pinpointed spraying, speed adopts discrete type mathematical model, wherein v is constant, scope 0～2.
The calculating of other specification is similar with calculating under dense planting green vegetable plantation spray pattern, is not repeating.
The parameter configuration of logistic pattern: the related chamber operation parameter of exploitation calculates pc machine software, and operator are in pc machine
The parameter directly perceived obtaining in upper input greenhouse, calculates, by pc machine software, the parameter that single-chip microcomputer can identify automatically, wherein temperature
The parameter directly perceived of indoor acquisition includes the weight of material to be carried, carrying position；The parameter that single-chip microcomputer can identify includes: machine
The speed of people's traveling, robot stop position.The stop position of greenhouse logistics plant protection robot is exactly the carrying position of parameter input
Put, directly transmission range in pc machine software.
vrobot=200/m+ldis/t
In above formula, vrobotFor the gait of march of robot, unit is m/s；M is the weight of carrying material, and unit is kg；
ldisFor the distance of carrying, unit is m；T is to estimate handling time, and unit is s it is recommended that 30～240.
Described detecting system includes: position and speed detector, flow detection, wind detection device, luffing angle
Detection means, residual drug detection means with the detection means, angle of revolution and speed of speed.Described position and speed inspection
Survey device and adopt existing technology for example: radar fix, gps positioning, laser ranging positioning, encoder are tested the speed, agv intelligent carriage
Positioning mode etc., corresponding module cooperation single-chip microcomputer is installed using these technology and uses, realize in robot in greenhouse
Positioning；Described flow detection, installs effusion meter on robot liquor piping, will be monitored by way of 485 buses
Flow information is sent to single-chip microcomputer；Described wind detection device is installation speed measuring coder in the rotary shaft of blower fan, coding
The pulse information detecting is sent to single-chip microcomputer by way of Differential Input by device, can be obtained according to the change of blower fan axle speed size
Change to wind-force；The detection means of described luffing angle and speed installs Hall angular transducer on pitch axis, and leads to
Cross gpio mouth to be connected with single-chip microcomputer, the information detecting is delivered to single-chip microcomputer by gpio oral instructions；Described angle of revolution and
The detection means of speed installs Hall angular transducer on gyroaxis, and is connected with single-chip microcomputer by gpio mouth, will detect
To information deliver to single-chip microcomputer by gpio oral instructions；Described residual drug detection means installs a pressure in the lower section of medicinal liquor barrel
Force transducer, pressure transducer detects the change of dose, detection information is inputted to a/d modular converter, a/d module will be changed
The digital signal completing is sent to single-chip microcomputer.
Described control system include pc machine parameter software for calculation, mobile phone control software, single-chip microcomputer, power supply and other outside
Enclose controller.Described pc machine parameter software for calculation, is calculated thus being obtained the discernible ginseng of single-chip microcomputer to the parameter of input
The parameter converting is sent to the Internet according to certain data form packing by number simultaneously；Described mobile phone control software
Receive the packet that pc machine is sent to the Internet, and packet is sent to by single-chip microcomputer by router, furthermore list can be received
The data that piece machine feeds back, electric map module in mobile phone control software for the data of feedback is processed, thus real
When show the current position of robot and handling situations, wherein, the formation basic theory of greenhouse electronic chart be will greenhouse ground condition (temperature
Room size, plantation row distribution) parameter is written as one and can change txt text, and corresponding text parameter is set according to current greenhouse, leads
Enter cell phone software thus forming the electronic chart in current greenhouse；Described single-chip microcomputer selects high-performance stm32 of arm3 series mono-
Piece machine；Preferentially the power supply from 24v, 5v direct current is powered described power supply to single-chip microcomputer, other peripheral controllers etc.；Described
Other peripheral controllers include motor driver, wireless communication module, pump controller, fan driver etc., wherein wireless telecommunications
Module has wireless router and wifi to turn serial ports submodule for the data transfer between single-chip microcomputer and mobile phone.
Present invention also offers a kind of control method of greenhouse logistics plant protection robot controller, comprise the steps:
1) operator obtain intuitively parameter in pc generator terminal input greenhouse, the corresponding computed in software developed by pc machine
Afterwards, computed information is sent to network.
2) open mobile phone control software, receive pc machine and be sent to the data on network；Start greenhouse logistics plant protection robot,
By way of wireless wifi transmission signal, complete the connection of mobile phone and single-chip microcomputer.
3) it is currently needed for according to greenhouse, logistic pattern or spray pattern are selected on mobile phone, the packet obtaining is sent
To single-chip microcomputer.
4) single-chip microcomputer receives the information that mobile phone control software sends, and proceeds by the spraying operation in greenhouse or thing
Stream operation, all the sensors are in running order simultaneously, and by the feedback of the information detecting to single-chip microcomputer, single-chip microcomputer is according to feedback letter
Breath carries out the adjustment of attitude automatically, forms the control system of closed loop, realizes automatically controlling；Robot location is believed by single-chip microcomputer simultaneously
Breath and working condition sent to mobile phone by router, and on mobile phone in the way of electronic chart Dynamic Announce.
5) after fulfiling assignment, operator's operating handset software, control robot to move to home position by operating position,
Closing machine people's power supply.
Beneficial effects of the present invention:
1) present invention adopts mobile phone control, high degree of automation, saves a large amount of labour forces.
2) present invention, using self-propelled, need not manually directly participate in spraying, it is to avoid people's medicine can not isolate the life wound causing
Evil.
3) present invention can on cell phone map the position of Real-time Feedback current robot, work state information, positioning precision
Height, conveniently controls it.
4) enter the automatic calculating of line parameter using pc machine, parameter modification is convenient, simple, improves computational efficiency.
5) present configuration is simple, and easy to operate, high working efficiency is suitable for being sprayed and hauling operation in greenhouse.
Brief description
Fig. 1 is job parameter configuration systematic schematic diagram；
Fig. 2 is detecting system schematic diagram；
Fig. 3 is control system schematic diagram；
Fig. 4 is main interface and the locating and displaying surface chart of cell phone software；
Fig. 5 is that spray operations are illustrated；
Fig. 6 is the workflow diagram of greenhouse logistics plant protection robot；
Specific embodiment:
Below in conjunction with the accompanying drawings patent of the present invention is described further.A kind of greenhouse logistics plant protection machine of the present invention
People's control system and method, control device includes: includes job parameter configuration system, detecting system and control system.As Fig. 1 institute
Show, described job parameter configures the parameter configuration that system includes spray pattern and logistic pattern.Spray pattern parameter configuration: open
Send out related chamber operation parameter and calculate pc machine software, operator input the parameter directly perceived obtaining in greenhouse on pc machine, lead to
Cross pc machine software and automatically calculate the parameter that single-chip microcomputer can identify.The parameter directly perceived obtaining in its medium temperature chamber includes plant class
Type, density degree, the size of blade, the height degree of plant strain growth；The parameter that single-chip microcomputer can identify includes: robot advances
Speed, uninterrupted, wind-force size, luffing angle, luffing speed, angle of revolution, speed of gyration.In greenhouse, plant type is divided into
Dense planting green vegetable and two kinds from wall type fruit and vegerable Planting Patterns, thus spray pattern is divided into dense planting green vegetable plantation spray pattern
Plant spray pattern with from wall type fruit and vegerable.Under dense planting green vegetable plantation spray pattern, scalable robot gait of march, stream
Amount size, wind-force size, luffing angle, luffing speed, angle of revolution, speed of gyration, realize while robot advances to close
Plant green vegetable Planting Patterns and complete spraying operation, show the current location information of robot by mobile phone electronic map in real time,
And red display spraying performance is become by green by capable color of spraying on electronic chart.Operator are being provided with parameter
After |input paramete on the pc machine of software for calculation, pc machine application program is discernible automatically by following computing formula output single-chip microcomputer
Parameter.vrobotIn=∫ 1/dxdx (10 > x > 0) formula, vrobotFor the gait of march of robot, unit is m/s；D is dredging of leaf
Close degree is it is recommended that value 3～8；X is robot forward acceleration constant, and unit is m/s2.
θh=((θ_r-θ_l)/2π+l/r)×khIn formula, θhFor the angle of robotic spray apparatus revolution, unit is rad；
θ_rFor the angle of line and robot direction of advance, wherein line is point and the two row centre position near-ends of the right row distalmost end
The line of point, unit is degree；θ_lFor the angle of line and robot direction of advance, wherein line be left line distalmost end point with
The line of the point of two row centre position near-ends, unit is degree；L is row length, and unit is m；R is the distance of robot to row near-end,
Unit is m；khFor corrected parameter it is recommended that 1.1～1.3.
θv=((θ_up-θ_down)/2π+h/r)×kvIn formula, θvFor the angle of robotic spray apparatus pitching, unit is
rad；θ_upFor the angle of line and ground, wherein line is the point of plant canopy and the robot barycenter of plant row most proximal end
Line, unit is degree；θ_downFor the angle of line and ground, wherein line is the point of plant root and the machine of plant row distalmost end
The line of device people's barycenter, unit is degree；H is robot barycenter height from the ground, and unit is m；R is for robot to row near-end
Distance, unit is m；kvFor corrected parameter it is recommended that 0.8～1.2.
vh-rotation=d × θhIn/t formula, vh-rotationFor speed of gyration, unit is rad/s；The density degree of d leaf,
Recommendation 2～8；θhFor the angle of robotic spray apparatus revolution, unit is rad；T is time constant, and unit is s it is recommended that 40
～60.vv-rotation=d × θvIn/t formula, vv-rotationFor luffing speed, unit is rad/s；The density degree of d leaf it is recommended that
Value 2～8；θvFor the angle of robotic spray apparatus pitching, unit is rad；T is time constant, and unit is s it is recommended that 40～60.
In q=s × v ∫ 1/ (t+1) dt × s formula, q is the size of flow, and unit is l/min；S is the sectional area of pipeline, and unit is dm2；
V is flow velocity, and unit is m/s, and t is the coefficient of flow, and t starts to increase from 0.5；S is the size of blade, and unit is dm2It is recommended that
0.3～1.5.
vwindow-scale=d × (2- θh×θv)/t2+kwIn formula, vwind-scaleFor the size of wind-force, unit is m/s；D leaf
Density degree it is recommended that value 2～8；θhFor the angle of robotic spray apparatus revolution, unit is rad；θvFor robotic spray's dress
Put the angle of pitching, unit is rad；T is time constant, and unit is s it is recommended that 40～60；kwFor corrected parameter it is recommended that 2～4.
Under wall type fruit and vegerable plantation spray pattern, control machine People's Bank of China to enter to reach specified location, control uninterrupted, wind
Power size, luffing angle, luffing speed, angle of revolution, speed of gyration, realize reaching and specify spraying row to complete from wall type fruit and vegerable kind
Plant the accurate spraying operation of type, show the current location information of robot by mobile phone electronic map in real time, and pass through electronics
Capable color of spraying on map becomes red display spraying performance by green.Carrying out practically parametric mathematical model is as follows:
vrobotIn the formula of={ 0, v, 0, v... }, vrobotFor the gait of march of robot, unit is m/s；Due to from wall type
Fruit and vegerable Planting Patterns need in the ranks to be pinpointed spraying, and speed adopts discrete type mathematical model, and wherein v is constant, scope 0～2.
The calculating of other specification is similar with calculating under dense planting green vegetable plantation spray pattern, is not repeating.
The parameter configuration of logistic pattern: the related chamber operation parameter of exploitation calculates pc machine software, and operator are in pc machine
The parameter directly perceived obtaining in upper input greenhouse, calculates, by pc machine software, the parameter that single-chip microcomputer can identify automatically, wherein temperature
The parameter directly perceived of indoor acquisition includes the weight of material to be carried, carrying position；The parameter that single-chip microcomputer can identify includes: machine
The speed of people's traveling, robot stop position.The stop position of greenhouse logistics plant protection robot is exactly the carrying position of parameter input
Put, directly transmission range in pc machine software.
vrobot=200/m+ldisIn/t formula, vrobotFor the gait of march of robot, unit is m/s；M is carrying material
Weight, unit is kg；ldisFor the distance of carrying, unit is m；T is to estimate handling time, and unit is s it is recommended that 30～240.
As shown in Fig. 2 described detecting system includes: position and speed detector, flow detection, wind-force detection dress
Put, the detection means of detection means, angle of revolution and speed of luffing angle and speed, residual drug detection means.Described
Position and speed detector adopt existing technology for example: radar fix, gps positioning, laser ranging positioning, encoder are surveyed
Speed, positioning mode of agv intelligent carriage etc., install corresponding module cooperation single-chip microcomputer using these technology and use, realize in machine
Positioning in greenhouse for the device people；Described flow detection, installs effusion meter, by 485 buses on robot liquor piping
The flow information monitoring is sent to single-chip microcomputer by mode；Described wind detection device is to install to survey in the rotary shaft of blower fan
Fast encoder, the pulse information detecting is sent to single-chip microcomputer by way of Differential Input by encoder, according to blower fan axle speed
The change of size can get the change of wind-force；The detection means of described luffing angle and speed installs Hall angle on pitch axis
Degree sensor, and be connected with single-chip microcomputer by gpio mouth, the information detecting is delivered to single-chip microcomputer by gpio oral instructions；Described
Angle of revolution and the detection means of speed on gyroaxis, Hall angular transducer is installed, and pass through gpio mouth and single-chip microcomputer phase
Connect, the information detecting is delivered to single-chip microcomputer by gpio oral instructions；Described residual drug detection means is under medicinal liquor barrel
A pressure transducer is installed by side, and pressure transducer detects the change of dose, detection information is inputted to a/d modular converter,
The digital signal converting is sent to single-chip microcomputer by a/d module.
As shown in figure 3, described control system includes pc machine parameter software for calculation, mobile phone control software, single-chip microcomputer, power supply
And other peripheral controllers.Described pc machine parameter software for calculation, is calculated thus being obtained single-chip microcomputer to the parameter of input
The parameter converting is sent to the Internet according to certain data form packing by discernible parameter simultaneously；Described handss
Machine control software receives the packet that pc machine is sent to the Internet, and by router, packet is sent to single-chip microcomputer, furthermore
The data that singlechip feedbsck is returned can be received, by the data of feedback at the electric map module in mobile phone control software
Reason, thus showing the current position of robot and handling situations in real time, wherein, the formation basic theory of greenhouse electronic chart is by greenhouse
Ground condition (greenhouse size, plantation row distribution) parameter be written as one and can change txt text, corresponding literary composition is set according to current greenhouse
This parameter, imports cell phone software thus forming the electronic chart in current greenhouse；The high property of arm3 series selected by described single-chip microcomputer
Can stm32 single-chip microcomputer；Preferentially the power supply from 24v, 5v direct current supplies described power supply to single-chip microcomputer, other peripheral controllers etc.
Electricity；Other described peripheral controllers include motor driver, wireless communication module, pump controller, fan driver etc., wherein
Wireless communication module has wireless router and wifi to turn serial ports submodule for the data transfer between single-chip microcomputer and mobile phone.
As shown in figure 4, the main interface of described cell phone software and locating and displaying interface, mobile phone main interface includes network connection
With two parts of model selection, network connection is the ip wireless connection corresponding with mobile phone that wifi turns serial ports submodule, and network is true
The selection of row mode after recognizing connection, is entered according to chamber operation, the invention provides the selection of logistic pattern and spray pattern.Positioning
Interface includes current greenhouse map and two parts of spraying machine current location information.
As shown in figure 5, described spray operations are illustrated, under spray pattern, sprayer unit carries out revolution and two fortune of pitching
Dynamic, before and after chassis is carried out and start and stop campaign, complete the spraying operation to object of spraying.
As shown in fig. 6, a kind of control method of greenhouse logistics plant protection robot controller, comprise the steps:
3) operator obtain intuitively parameter in pc generator terminal input greenhouse, the corresponding computed in software developed by pc machine
Afterwards, computed information is sent to network.
4) open mobile phone control software, receive pc machine and be sent to the data on network；Start greenhouse logistics plant protection robot,
By way of wireless wifi transmission signal, complete the connection of mobile phone and single-chip microcomputer.
3) it is currently needed for according to greenhouse, logistic pattern or spray pattern are selected on mobile phone, the packet obtaining is sent
To single-chip microcomputer.
4) single-chip microcomputer receives the information that mobile phone control software sends, and proceeds by the spraying operation in greenhouse or thing
Stream operation, all the sensors are in running order simultaneously, and by the feedback of the information detecting to single-chip microcomputer, single-chip microcomputer is according to feedback letter
Breath carries out the adjustment of attitude automatically, forms the control system of closed loop, realizes automatically controlling；Robot location is believed by single-chip microcomputer simultaneously
Breath and working condition sent to mobile phone by router, and on mobile phone in the way of electronic chart Dynamic Announce.
5) after fulfiling assignment, operator's operating handset software, control robot to move to home position by operating position,
Closing machine people's power supply.
Claims (2)
1. a kind of greenhouse logistics plant protection robot control system is it is characterised in that include: job parameter configuration system, detecting system
And control system；Described job parameter configuration system, generates Different Crop cropping pattern in different growing stages in server end
Suitable logistics plant protection robot job parameter collection；Detection data is fed back to monolithic by sensor by described detecting system
Machine, constitutes the control system of a closed loop；The data letter that described control system, main process sensor and mobile phone send
Breath, and spraying operation or logistics transportation are completed by the control of single-chip microcomputer；
Described job parameter configuration system includes spray pattern parameter configuration and logistic pattern parameter configuration；Described spraying mould
Formula parameter configuration: the related chamber operation parameter of exploitation calculates pc machine software, and operator input on pc machine in greenhouse and obtain
Parameter directly perceived, the parameter that single-chip microcomputer can identify automatically is calculated by pc machine software；The ginseng directly perceived obtaining in its medium temperature chamber
Number includes the height degree of plant type, density degree, the size of blade, plant strain growth；Work needed for logistics plant protection robot
Industry parameter set includes: robot gait of march, mist flow, blower fan wind rotating speed, luffing angle, luffing speed, angle of revolution, return
Rotary speed；In greenhouse, plant type is divided into dense planting green vegetable and two kinds from wall type fruit and vegerable Planting Patterns, thus spray pattern divides
Plant spray pattern for dense planting green vegetable and from wall type fruit and vegerable plantation spray pattern；
Under dense planting green vegetable plantation spray pattern, scalable robot gait of march, uninterrupted, wind-force size, pitching
Angle, luffing speed, angle of revolution, speed of gyration, realize complete to dense planting green vegetable Planting Patterns while robot advances
Become spraying operation, show the current location information of robot by mobile phone electronic map in real time, and by spraying on electronic chart
The color of row becomes red display spraying performance by green；Operator input on the pc machine be provided with parameter software for calculation
After parameter, pc machine application program exports the discernible parameter of single-chip microcomputer automatically by following computing formula；
vrobot=∫ 1/dxdx (10 > x > 0)
In above formula, vrobotFor the gait of march of robot, unit is m/s；D is the density degree of leaf it is recommended that value 3～8；X is
Robot forward acceleration constant, unit is m/s2；
θh=((θ_r-θ_l)/2π+l/r)×kh
In above formula, θhFor the angle of robotic spray apparatus revolution, unit is rad；θ_rFor line and robot direction of advance
Angle, wherein line are the line of the point of point and two row centre position near-ends of the right row distalmost end, and unit is to spend；θ_lFor line
With the angle of robot direction of advance, wherein line is the company of the point of the point of left line distalmost end and two row centre position near-ends
Line, unit is degree；L is row length, and unit is m；R is the distance of robot to row near-end, and unit is m；khFor corrected parameter it is recommended that
1.1～1.3；
θv=((θ_up-θ_down)/2π+h/r)×kv
In above formula, θvFor the angle of robotic spray apparatus pitching, unit is rad；θ_upFor the angle of line and ground, wherein connect
Line is the line with robot barycenter for the point of plant canopy of plant row most proximal end, and unit is degree；θ_downFor line and ground
Angle, wherein line are the line with robot barycenter for the point of plant root of plant row distalmost end, and unit is degree；H is machine
People's barycenter height from the ground, unit is m；R is the distance of robot to row near-end, and unit is m；kvFor corrected parameter it is recommended that
0.8～1.2；
vh-rotation=d × θh/t
In above formula, vh-rotationFor speed of gyration, unit is rad/s；The density degree of d leaf is it is recommended that value 2～8；θhFor machine
The angle of people's sprayer unit revolution, unit is rad；T is time constant, and unit is s it is recommended that 40～60；
vv-rotation=d × θv/t
In above formula, vv-rotationFor luffing speed, unit is rad/s；The density degree of d leaf is it is recommended that value 2～8；θvFor machine
The angle of people's sprayer unit pitching, unit is rad；T is time constant, and unit is s it is recommended that 40～60；
Q=s × v ∫ 1/ (t+1) dt × s
In above formula, q is the size of flow, and unit is l/min；S is the sectional area of pipeline, and unit is dm2；V is flow velocity, and unit is
M/s, t are the coefficient of flow, and t starts to increase from 0.5；S is the size of blade, and unit is dm2It is recommended that 0.3～1.5；
vwindow-scale=d × (2- θh×θv)/t2+kw
In above formula, vwind-scaleFor the size of wind-force, unit is m/s；The density degree of d leaf is it is recommended that value 2～8；θhFor machine
The angle of people's sprayer unit revolution, unit is rad；θvFor the angle of robotic spray apparatus pitching, unit is rad；T is the time
Constant, unit is s it is recommended that 40～60；kwFor corrected parameter it is recommended that 2～4；
Under wall type fruit and vegerable plantation spray pattern, control machine People's Bank of China to enter to reach specified location, control uninterrupted, wind-force big
Little, luffing angle, luffing speed, angle of revolution, speed of gyration, realize reaching and specify spraying row to complete to plant class from wall type fruit and vegerable
The accurate spraying operation of type, shows the current location information of robot in real time by mobile phone electronic map, and passes through electronic chart
The color of upper spraying row becomes red display spraying performance by green.Carrying out practically parametric mathematical model is as follows:
vrobot={ 0, v, 0, v... }
In above formula, vrobotFor the gait of march of robot, unit is m/s；Due to needing to carry out from wall type fruit and vegerable Planting Patterns
Fixed point spraying in the ranks, speed adopts discrete type mathematical model, and wherein v is constant, scope 0～2；
The calculating of other specification is similar with calculating under dense planting green vegetable plantation spray pattern, is not repeating.
The parameter configuration of logistic pattern: the related chamber operation parameter of exploitation calculates pc machine software, and operator are defeated on pc machine
Enter the parameter directly perceived obtaining in greenhouse, the parameter that single-chip microcomputer can identify automatically is calculated by pc machine software, in its medium temperature chamber
The parameter directly perceived obtaining includes the weight of material to be carried, carrying position；The parameter that single-chip microcomputer can identify includes: machine People's Bank of China
The speed entered, robot stop position.The stop position of greenhouse logistics plant protection robot is exactly the carrying position of parameter input, directly
It is connected on transmission range in pc machine software.
vrobot=200/m+ldis/t
In above formula, vrobotFor the gait of march of robot, unit is m/s；M is the weight of carrying material, and unit is kg；ldisFor
The distance of carrying, unit is m；T is to estimate handling time, and unit is s it is recommended that 30～240；
Described detecting system includes: position and speed detector, flow detection, wind detection device, luffing angle and speed
The detection means of detection means, angle of revolution and speed of degree, residual drug detection means.Described position and velocity measuring dress
Put using existing technology for example: radar fix, gps positioning, laser ranging positioning, encoder are tested the speed, the determining of agv intelligent carriage
Position mode etc., installs corresponding module cooperation single-chip microcomputer using these technology and uses, realize in robot the positioning in greenhouse；
Described flow detection, installs effusion meter on robot liquor piping, is believed, by way of 485 buses, the flow monitoring
Breath is sent to single-chip microcomputer；Described wind detection device is installation speed measuring coder in the rotary shaft of blower fan, and encoder will be examined
The pulse information measuring is sent to single-chip microcomputer by way of Differential Input, can get wind-force according to the change of blower fan axle speed size
Change；The detection means of described luffing angle and speed installs Hall angular transducer on pitch axis, and passes through gpio
Mouth is connected with single-chip microcomputer, and the information detecting is delivered to single-chip microcomputer by gpio oral instructions；Described angle of revolution and speed
Detection means installs Hall angular transducer on gyroaxis, and is connected with single-chip microcomputer by gpio mouth, by the letter detecting
Breath delivers to single-chip microcomputer by gpio oral instructions；Described residual drug detection means installs a pressure sensing in the lower section of medicinal liquor barrel
Device, pressure transducer detects the change of dose, detection information is inputted to a/d modular converter, and a/d module will convert
Digital signal is sent to single-chip microcomputer；
Described control system include pc machine parameter software for calculation, mobile phone control software, single-chip microcomputer, power supply and other outer contain
Device processed；Described pc machine parameter software for calculation, is calculated thus being obtained the discernible parameter of single-chip microcomputer to the parameter of input, with
When the parameter converting is sent to the Internet according to certain data form packing；Described mobile phone control software receipt pc
Machine is sent to the packet of the Internet, and by router, packet is sent to single-chip microcomputer, furthermore it is anti-to receive single-chip microcomputer
Being fed back to the data come, electric map module in mobile phone control software for the data of feedback being processed, thus showing in real time
The current position of robot and handling situations, wherein, the formation basic theory of greenhouse electronic chart is that (greenhouse is big by the ground condition in greenhouse
Little, plantation row distribution) parameter is written as one and can change txt text, and corresponding text parameter is set according to current greenhouse, imports handss
Machine software is thus form the electronic chart in current greenhouse；The high-performance stm32 single-chip microcomputer of arm3 series selected by described single-chip microcomputer；
Preferentially the power supply from 24v, 5v direct current is powered described power supply to single-chip microcomputer, other peripheral controllers etc.；Described other
Peripheral controllers includes motor driver, wireless communication module, pump controller, fan driver etc., wherein wireless communication module
Wireless router and wifi is had to turn serial ports submodule for the data transfer between single-chip microcomputer and mobile phone.
2. as claimed in claim 1 a kind of control method of greenhouse logistics plant protection robot controller it is characterised in that its
Control process is as follows:
1) operator pc generator terminal input greenhouse in obtain intuitively parameter, the corresponding computed in software developed by pc machine it
Afterwards, computed information is sent to network；
2) open mobile phone control software, receive pc machine and be sent to the data on network；Start greenhouse logistics plant protection robot, pass through
The mode of wireless wifi transmission signal, completes the connection of mobile phone and single-chip microcomputer；
3) it is currently needed for according to greenhouse, mobile phone selects logistic pattern or spray pattern, the packet obtaining is sent to list
Piece machine；
4) single-chip microcomputer receives the information that mobile phone control software sends, and proceeds by the spraying operation in greenhouse or logistics is made
Industry, all the sensors are in running order simultaneously, and by the feedback of the information detecting to single-chip microcomputer, single-chip microcomputer is according to feedback information certainly
The dynamic adjustment carrying out attitude, forms the control system of closed loop, realizes automatically controlling；Simultaneously single-chip microcomputer by robot location's information and
Working condition is sent to mobile phone by router, and on mobile phone in the way of electronic chart Dynamic Announce；
5) after fulfiling assignment, operator's operating handset software, control robot to move to home position by operating position, close
Robot power supply.
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