CN106708061B - A kind of collaboration of greenhouse movable job platform follows operation air navigation aid and device - Google Patents
A kind of collaboration of greenhouse movable job platform follows operation air navigation aid and device Download PDFInfo
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- CN106708061B CN106708061B CN201710133282.6A CN201710133282A CN106708061B CN 106708061 B CN106708061 B CN 106708061B CN 201710133282 A CN201710133282 A CN 201710133282A CN 106708061 B CN106708061 B CN 106708061B
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- 238000000034 method Methods 0.000 claims abstract description 23
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- 235000013399 edible fruits Nutrition 0.000 claims abstract description 5
- 239000000411 inducer Substances 0.000 claims description 20
- 230000008569 process Effects 0.000 claims description 16
- 238000005259 measurement Methods 0.000 claims description 14
- 230000005484 gravity Effects 0.000 claims description 8
- 230000003044 adaptive effect Effects 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 7
- 230000004927 fusion Effects 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 4
- 230000005389 magnetism Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
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- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003447 ipsilateral 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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Abstract
The invention discloses a kind of collaborations of greenhouse movable job platform to follow operation air navigation aid and device, belongs to industrialized agriculture intelligence equipment technology field.The present invention realizes independent navigation of the mobile platform between greenhouse ridge by magnetic navigation sensor module, and then the distance between mobile platform and operating personnel are detected by distance measuring sensor module, the start and stop for passing through main controller controls mobile platform again, cooperate with the function of following operation to realize between mobile platform and operating personnel.The present invention can be used in loading operation tool, transport material fruit etc., solves the problems, such as that production logistics is transported in greenhouse, mitigates the labor intensity of worker with control method in simple structure, improves production efficiency, reduce cost.
Description
Technical field
The present invention relates to industrialized agriculture intelligence equipment technology field, in particular to a kind of greenhouse for capableing of work compound is autonomous
Mobile platform.
Background technique
Currently, single of China greenhouse area is increasing, crop-planting is intensive, and ridge spacing is narrow, in Cultivate administration operation
It is frequently necessary to operating personnel and carries material, tool and application operation, large labor intensity back and forth, transport material and equipment is time-consuming takes
Power, so needing a kind of mobile job platform that can assist in operating personnel's loading operation tool and material.Existing operation
Platform can only be cruised by route and realize fixed point transported material, can not be real-time according to the variation of the operation of operating personnel needs
Supply and loaded material.Current mobile job platform mostly by being laid with trapped orbit as guidance path in inside greenhouse,
This method is at high cost and transformation difficulty is big, and track above ground level also influences walking and other work tools of personnel
Traveling.
Chinese invention patent ZL201510902728.8, it is entitled the AGV of pivot stud " can voluntarily walk transport vehicle ".
Two driving wheels independently driven are arranged in the invention between the driven wheel of car body rear and front end, and make two driving wheels with identical
Revolving speed rotate backward, realize transport vehicle rotation turn to, the occupancy in space is reduced, to realize that AGV voluntarily walks transport vehicle and exists
Steering, feeding and discharging operations in narrow channel.Since transport vehicle lacks effective positioning auxiliary dress in the process of walking
It sets, can not flexibly set feeding or discharging place.
Chinese utility model patent 201320386799.3, utility model are entitled " the automatic carrying platform of greenhouse track ".
It include: parallel laid in two tracks and carrier loader on ground which disclose the automatic carrying platform of greenhouse track.Carrier loader
Upper installation controller and the photoelectric limit switch of car body rear and front end.During carrier loader is advanced, photoelectric position limit sensing
Device sends a signal to controller by detecting the position of baffle, and controller sends stop sign to driving device, and carrier loader is automatic
Parking.In the process of walking due to transport vehicle, photoelectric limit switch is mounted on fixed position, and transport vehicle can only be at limit switch
Parking, neatly can not set stop according to the demand of operating personnel in real time.
Chinese invention patent ZL201510902728.8, entitled " one kind is automated based on greenhouse inner groovy single track
Operation Van and its control method ".It includes guide rail, bottom that the patent of invention, which discloses a kind of greenhouse inner orbit formula automatic guided vehicle,
Disk, carrying platform, movement mechanism, feedback control system and battery.Automatic guided vehicle passes through close to switch and absolute encoder
And electronic map coordinate acquisition information, the accurate positioning for realizing guiding vehicle is handled by single-chip microcontroller, passes through front and back driving wheel
Independent control realizes guiding the vehicle reciprocating motion in passageway and turning of track turns between greenhouse main aisle and furrow.The track
The track laying of formula automatic guided vehicle is more complex, for complex environment narrow between greenhouse ridge, it is difficult to realize the spirit of guide path
Adjustment living, while guide rail above ground level also affects the normally travel of other work tools and the walking of operating personnel.
Summary of the invention
The purpose of the present invention is to provide a kind of collaborations of greenhouse movable job platform to follow operation air navigation aid and device, with
The loading and light transportation problem of staff power tool and material fruit in operation process in greenhouse are solved, the present invention is logical
It crosses magnetic navigation sensor and realizes mobile platform navigation feature accurate, stable between greenhouse ridge, it is automatic to improve current track formula
The path of pilot land is laid with the defects of complicated, improvement cost is big, while providing distance detection function by distance measuring sensor module
Can, to solve the Target Tracking Problem of work compound.
In order to solve the above technical problems, the specific technical solution that the present invention uses is as follows:
A kind of collaboration of greenhouse movable job platform follows operation navigation device, comprising: carrying platform (1), crawler travel dress
It sets and detecting and controlling unit；The carrying platform (1) is used for loaded material fruit and power tool；The crawler unit is used
In the traveling of driving carrying platform (1)；The detecting and controlling unit is flat for the driving path deviation of detection platform and movement
The distance between platform and staff, and control mobile platform and follow operating personnel to travel along guide path.
The crawler unit is by left motor servo driver (11), right motor servo driver (12), left servo electricity
Machine (10), right servo motor (9), battery group (18), left gear retarder (14), right gear retarder (13), left crawler belt
(8), right-hand track chiain (7), left driving wheel (16), right driving wheel (15), left inducer (4), right inducer (3), left bogie wheel (6),
Right bogie wheel (5) composition；The output shaft of the left servo motor (10) and right servo motor (9) is respectively through left gear retarder
(14) it is connected with each other with right gear retarder (13) with left driving wheel (16) and right driving wheel (15)；The left driving wheel (16) and
Right driving wheel (15) is equal in magnitude with left inducer (4) and right inducer (3) and passes through left crawler belt (8) and right-hand track chiain (7) difference
It is connect with the right inducer (3) on the right side of the left inducer (4) and front for being located at carrying platform (1) front, left side；
The left bogie wheel (6) of crawler unit is mounted between left driving wheel (16) and left inducer (4), right bogie wheel
(5) it is mounted between right driving wheel (15) and right inducer (3), and be connected respectively with the fixing axle at left and right sides of mobile platform.
The detecting and controlling unit include distance measuring sensor module, magnetic navigation sensor module (20), temperature detecting module,
Velocity measuring module, wireless transmitter module and master controller；The preceding distance measuring sensor module (21) of the creeper undercarriage and
Distance measuring sensor module (22) is separately mounted on the car body longitudinal center plane of mobile platform afterwards；Distance measuring sensor module includes super
The ultrasonic distance-measuring sensor of sound ranging sensor and infrared sensor, each distance measuring sensor module is mounted on infrared sensing
The surface of device and apart 1cm；Magnetic navigation sensor module (20) are installed in the bottom middle of the carrying platform (1), and magnetic=
Car body longitudinal center plane of the navigation sensor module (20) apart from ground 4cm and about mobile platform is symmetrical；The velocity measuring
Module includes left encoder and right encoder, left encoder and right encoder respectively with left servo motor (10) and right servo motor
(9) it connects；The wireless transmitter module includes IR remote controller and infrared receiving terminal, and infrared receiving terminal is through conducting wire and master controller
Connection；The temperature detecting module is connect by conducting wire with master controller；The master controller is mounted on the carrying platform (1)
Inside is connected by conducting wire with left motor servo driver (11) and right motor servo driver (12), left servo motor driving
Device (11) and right motor servo driver (12) extraction wire are separately connected left servo motor (10), left encoder and right servo
Motor (9), right encoder；The master controller through conducting wire be separately connected before distance measuring sensor module (21) and after distance measuring sensor
The ultrasonic distance-measuring sensor of module (22), then ranging sensing in front and back is separately connected through conducting wire by built-in analog-to-digital conversion module
The infrared sensor of device module (21) and rear distance measuring sensor module (22)；The shell of the left encoder and right encoder difference
It is fixed with the shell of left servo motor (10) and right servo motor (9), the rotor of left encoder rotor and left servo motor (10)
Connection, right encoder rotor are connect with the rotor of right servo motor (9).
A kind of collaboration of greenhouse movable job platform follows operation air navigation aid, it is characterised in that the following steps are included:
Step 1, after navigation device receives enabling signal, master controller enters initialization program, and whether first determining program
Have exception, if program normally if select operating mode, in a manual mode by IR remote controller remote-controlled movement platform travel, with
With ranging subprogram is then started under work pattern, detected by the ultrasonic sensor and infrared sensor of distance measuring sensor module
The distance of barrier on direction of travel；
Step 2, the influence in order to compensate for greenhouse temperature to sound wave spread speed in air, passes through temperature detecting module
The temperature value T in the current greenhouse of real-time measurement obtains the spread speed V of ultrasonic wave are as follows:
Step 3, the ultrasonic sensor and infrared sensor of every group of distance measuring sensor module acquire movement respectively when measurement
The distance between platform and operating personnel three times, the data that distance measuring sensor module is acquired by adaptive weight fusion estimated algorithm
It is handled, the measurement distance after being calculated by the calculating and distribution of weight；
Step 4, when the actual measured value of distance measuring sensor module is less than the safe following distance of setting, master controller
It controls left servo motor and right servo motor stops operating；When the actual measurement distance of the distance measuring sensor module of mobile platform is big
When the safe following distance of setting, the left servo motor of main controller controls and the operation of right servo motor；
Step 5, distance 1cm between each sensing point of magnetic navigation sensor, mobile platform pass through 16 in the process of moving
The magnetism that the guiding magnetic stripe 2 that digital magnetic navigation sensor detection is laid on driving path generates, master controller pass through interruption
The every 150ms of mode acquires the offset of a magnetic navigation sensor, passes through sensing point output at left and right sides of magnetic navigation sensor
Different location judges that mobile platform deviates the degree of driving path, and master controller is according to the offset and offset of mobile platform
Change rate control PWM speed regulation is carried out to left and right servo motor and right servo motor, when guiding magnetic stripe is in the center of mobile platform
Between when, four output points conducting among magnetic navigation sensor, when the output point of magnetic navigation sensor moves to left, mobile platform center of gravity
It is biased to right ridge, master controller gives left servo motor and right servo motor to reduce and increase identical duty ratio respectively, to realize
The left-hand rotation of job platform adjusts the speed；When the output point of magnetic navigation sensor moves to right, mobile platform center of gravity is biased to left ridge, master controller point
Not Gei left servo motor and right servo motor increase and reduce identical duty ratio, to realize the right-hand rotation speed regulation of job platform,
By constantly adjusting traveling pose, realize that mobile platform is walked along guide path.
The adaptive weight fusion estimated algorithm, specific calculating process are as follows:
Process one,The ranging mean values of 3 measurements are carried out for ultrasonic sensor,For ultrasonic distance-measuring sensor
Ranging variance, calculation formula are as follows
Process two,The ranging mean values of 3 measurements are carried out for infrared sensor,For the ranging variance of infrared sensor,
Calculation formula is as follows
The weighted factor of process three, ultrasonic sensor and infrared sensor is respectively Wp、Wq, calculation formula is as follows
Process four passes through adaptive weighted fused ranging mean valueCalculation formula is as follows
The present invention has beneficial effect.The present invention utilizes magnetic guidance to guide magnetic stripe as the driving path of mobile platform
The magnetic signal of sensor acquisition guiding magnetic stripe, master controller control two driving motors by pwm signal and realize that mobile platform is left
The differential of right wheel travels, to realize the navigation feature of mobile platform, does not need to build track and support frame, at low cost to be suitble to
It is used in greenhouse.In addition, crawler-type mobile platform can make even running between greenhouse ridge to the adaptable of roughness pavement,
It ensure that the smooth walking of mobile platform.The present invention measures mobile platform and operation by ultrasonic sensor and infrared sensor
The distance between personnel, by the start and stop of main controller controls driving motor, mobile platform follows the function of operation in realization greenhouse
Can, substantially increase operating efficiency.
Detailed description of the invention
Fig. 1 is left view of the invention；
Fig. 2 is main view of the invention；
Fig. 3 is top view of the invention；
Fig. 4 is control planning block diagram of the invention；
Fig. 5 is control flow schematic diagram of the invention；
In figure: 1, carrying platform；2, chassis；3, right inducer；4, left inducer；5, right bogie wheel；6, left bogie wheel；7,
Right-hand track chiain；8, left crawler belt；9, right servo motor；10, left servo motor；11, left motor servo driver；12 right servo motors drive
Dynamic device；13, right gear retarder；14, left gear retarder；15, right driving wheel；16, left driving wheel；17, magnetic stripe is guided；18,
Battery group；19, control cabinet；20, magnetic navigation sensor module；21, preceding distance measuring sensor module；22, rear distance measuring sensor mould
Block.
Specific embodiment
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing.
The present embodiment greenhouse movable job platform includes carrying platform, crawler unit and detecting and controlling unit, is such as schemed
1, such as Fig. 2, as shown in Figure 3.Carrying platform is the frame built by steel material, for carrying and transporting various working rigs
Tool and fruit material, the two sides of carrying platform are symmetrically installed crawler unit.By taking the caterpillar drive in left side as an example, left shoe
Band driving device includes left servo motor, left gear retarder, left driving wheel, left inducer, left bogie wheel and left crawler belt.It watches on a left side
It takes the output shaft of motor and left gear retarder is connected and passes through bolt and nut and is fixed on left gear retarder, left gear slows down
Device is fixed on the side wall of platform by screw-nut, and left driving wheel is fixed on the output shaft of left gear retarder through key, left
Inducer is fixed on the frame of platform by stud and forms endless strand, left weight bearing by left crawler belt and left driving wheel
Wheel is fixed on frame side by side by screw.
Referring to figures 1-4 shown in, detecting and controlling unit include master controller, left motor servo driver, right servo motor,
Left encoder, right encoder, distance measuring sensor module, magnetic navigation sensor module, temperature detecting module.Master controller is mobile
The control core of platform, for acquiring and handling information in time and export control signal.The shell of left encoder and right encoder
Respectively with left servo motor and there is the shell of servo motor to fix, rotor connects corresponding left servo motor and right servo electricity
Machine, the revolving speed for real-time detection servo motor.The master controller below platform is fixed on to drive by conducting wire and left servo motor
Dynamic device is connected with right motor servo driver, and left motor servo driver and right motor servo driver draw two conducting wires, point
Corresponding servo motor and encoder are not connected.Master controller is passed with preceding distance measuring sensor module and rear ranging respectively by conducting wire
The ultrasonic sensor of sensor module is connected with infrared sensor.Temperature detecting module is connect by conducting wire with master controller, is used
In the detection for realizing warm room temperature.
Preceding distance measuring sensor module and rear distance measuring sensor module be separately mounted to the rear and front end of mobile platform and
On the longitudinal center plane of platform, distance measuring sensor module includes ultrasonic distance-measuring sensor and infrared sensor, each module
Ultrasonic distance-measuring sensor is mounted on the surface of infrared sensor and distance is 1cm.Since greenhouse internal and external temperature difference is big
And the spread speed of sound is different under different temperatures, so setting temperature detecting module carries out temperature benefit to ultrasonic sensor
It repays.By the metrical information of ultrasonic sensor and infrared sensor, after adaptive weight fusion estimated algorithm is handled, obtains and work as
The distance between preceding mobile platform and front obstacle, then by the left motor servo driver of main controller controls and right servo motor
The operating of driver control left servo motor and right servo motor.Magnetic navigation sensor is installed in the bottom middle position of platform
And symmetrical about car body longitudinal center plane, distance is 4cm between magnetic navigation sensor and ground.Master controller passes through interruption side
The every 150ms of formula acquires the offset of a magnetic navigation sensor, passes through the different positions of output point at left and right sides of magnetic navigation sensor
The degree for judging that mobile platform deviates driving path is set, master controller is according to the variation of the offset and offset of mobile platform
Rate carries out PWM speed regulation to left servo motor and right servo motor, and when guiding middle of the magnetic stripe in mobile platform, magnetic navigation is passed
Four output points conducting among sensor, when the output point of magnetic navigation sensor moves to left, mobile platform center of gravity is biased to right ridge, master control
Device processed gives left servo motor and right servo motor to reduce and increase identical duty ratio respectively, to realize that job platform is being kept
Left-hand rotation speed regulation is carried out in the case that travel speed is constant；When the output point of magnetic navigation sensor moves to right, mobile platform center of gravity is biased to
Left ridge, master controller gives left servo motor and right servo motor motor to increase and reduce identical duty ratio respectively, to realize
Job platform carries out right-hand rotation speed regulation in the case where keeping travel speed constant, to realize mobile platform along guide path row
It walks.
Mobile job platform mainly detects the barrier on track route during traveling by distance measuring sensor module
Hinder the range information of object to realize the function of following operation, the position deviation information in navigation procedure is detected by magnetic navigation sensor
To realize the function of independent navigation.Mobile platform vehicle commander 1m, wide 45cm, high 40cm, can be set in 0.5-1.0m/ for speed
Traveling in s.As shown in figure 5, specific implementation method is as follows:
Step 1: operating personnel is operated with manual switches starting mobile platform, and mobile platform master controller after unlatching enters just
Beginningization program, master controller first judge whether communication is normal, start motor driven program, master controller judgement if communication is normal
Whether driver has exception, alarms if having exception.After initialization, if driver is without exception, enter main program.
First by the indoor temperature value of temperature detecting module measurement temperature, temperature-compensating is carried out to the velocity of sound.Then judge mobile platform
Motor pattern is instructed, master controller is logical if selection remote control mode using the IR remote controller emission control of wireless transmitter module
Infrared receiving terminal is crossed to receive control instruction and mobile platform is driven to travel.If selecting non-remote control mode, enters and follow operation mould
Formula.
Step 2: mobile platform is in the case where following work pattern, simultaneously by ipsilateral ultrasonic sensor and infrared sensor
The distance between mobile platform and barrier are measured, every group of DATA REASONING is three times.In order to compensate for greenhouse temperature to the velocity of sound in air
The influence of middle spread speed, by the temperature value T in the current greenhouse of temperature detecting module real-time measurement, then the spread speed of ultrasonic wave
V are as follows:
Step 3: counting subroutine is then called in every measurement three times, calculates separately the survey of ultrasonic sensor and infrared sensor
Away from mean value are as follows:
Step 4: calculating the ranging variance of ultrasonic sensor and infrared sensor are as follows:
Step 5: calculating ultrasonic sensor and the corresponding weight of infrared sensor are as follows:
Step 6: calculating the fusion value of ultrasonic sensor and infrared sensor are as follows:
Step 7: according to the needs of chamber operation, in the case where following work pattern, the safe following distance of mobile platform being set
It is then watched by the left servo motor of main controller controls and the right side for 60cm when safe following distance of the actual measured value less than setting
Motor is taken to shut down；When the safe following distance that actual measured value is greater than setting then passes through the left servo motor of main controller controls
It is operated with right servo motor；
Step 8: in move vehicle driving process, being examined by the magnetic navigation sensor that mobile platform bottom middle is installed
Survey the magnetism of magnetic stripe on path.When guiding magnetic stripe is close, then magnetic navigation sensor has 4 test points and simultaneously turns on, with movement
Platform guide path is middle line, and when 4 test points are biased to magnetic navigation sensor right side, then platform center of gravity and left ridge are close, and platform needs
It turns right adjustment；When then platform center of gravity and right ridge are close on the left of magnetic navigation sensor for 4 test points, platform needs to turn left to adjust
It is whole.
Claims (2)
1. a kind of greenhouse movable job platform collaboration follows operation air navigation aid, it is characterised in that: made using a kind of greenhouse movable
The collaboration of industry platform follows operation navigation device, comprising: carrying platform (1), crawler unit and detecting and controlling unit；The fortune
Carrying platform (1) is used for loaded material fruit and power tool；The crawler unit is used to drive the row of carrying platform (1)
It sails；The detecting and controlling unit for detection platform driving path deviation and mobile platform and staff between away from
From, and control mobile platform and follow operating personnel to travel along guide path；
The crawler unit is by left motor servo driver (11), right motor servo driver (12), left servo motor
(10), right servo motor (9), battery group (18), left gear retarder (14), right gear retarder (13), left crawler belt (8),
Right-hand track chiain (7), left driving wheel (16), right driving wheel (15), left inducer (4), right inducer (3), left bogie wheel (6), the right side are negative
Roller (5) composition；The output shaft of the left servo motor (10) and right servo motor (9) respectively through left gear retarder (14) and
Right gear retarder (13) and left driving wheel (16) and right driving wheel (15) are connected with each other；The left driving wheel (16) and right driving
Wheel (15) it is equal in magnitude with left inducer (4) and right inducer (3) and pass through left crawler belt (8) and right-hand track chiain (7) respectively be located at
The left inducer (4) of carrying platform (1) front, left side and right inducer (3) connection on the right side of front；
The left bogie wheel (6) of crawler unit is mounted between left driving wheel (16) and left inducer (4), right bogie wheel (5)
It is mounted between right driving wheel (15) and right inducer (3), and be connected respectively with the fixing axle at left and right sides of mobile platform；
The detecting and controlling unit includes distance measuring sensor module, magnetic navigation sensor module (20), temperature detecting module, speed
Detection module, wireless transmitter module and master controller；The preceding distance measuring sensor module (21) of the crawler unit and rear survey
It is separately mounted on the car body longitudinal center plane of mobile platform away from sensor module (22)；Distance measuring sensor module includes ultrasonic wave
The ultrasonic distance-measuring sensor of distance measuring sensor and infrared sensor, each distance measuring sensor module is mounted on infrared sensor
Surface and apart 1cm；Magnetic navigation sensor module (20) are installed in the bottom middle of the carrying platform (1), and magnetic navigation passes
Car body longitudinal center plane of the sensor module (20) apart from ground 4cm and about mobile platform is symmetrical；The velocity measuring module packet
Left encoder and right encoder are included, left encoder and right encoder connect with left servo motor (10) and right servo motor (9) respectively
It connects；The wireless transmitter module includes IR remote controller and infrared receiving terminal, and infrared receiving terminal is connect through conducting wire with master controller；
The temperature detecting module is connect by conducting wire with master controller；The master controller is mounted on the carrying platform (1) inside,
It is connected by conducting wire with left motor servo driver (11) and right motor servo driver (12), left motor servo driver (11)
Left servo motor (10), left encoder and right servo motor are separately connected with right motor servo driver (12) extraction wire
(9), right encoder；The master controller through conducting wire be separately connected before distance measuring sensor module (21) and after distance measuring sensor module
(22) ultrasonic distance-measuring sensor, then front and back distance measuring sensor mould is separately connected through conducting wire by built-in analog-to-digital conversion module
The infrared sensor of block (21) and rear distance measuring sensor module (22)；The shell of the left encoder and right encoder respectively with a left side
The shell of servo motor (10) and right servo motor (9) is fixed, and left encoder rotor is connect with the rotor of left servo motor (10),
Right encoder rotor is connect with the rotor of right servo motor (9)；
The method specifically includes the following steps:
Step 1, after navigation device receives enabling signal, master controller enters initialization program, and it is different whether first determining program has
Often, if program normally if select operating mode, in a manual mode by IR remote controller remote-controlled movement platform travel, following make
Then start ranging subprogram under industry mode, is detected and advanced by the ultrasonic sensor and infrared sensor of distance measuring sensor module
The distance of barrier on direction；
Step 2, the influence in order to compensate for greenhouse temperature to sound wave spread speed in air are real-time by temperature detecting module
The temperature value T for measuring current greenhouse obtains the spread speed V of ultrasonic wave are as follows:
Step 3, the ultrasonic sensor and infrared sensor of every group of distance measuring sensor module acquire mobile platform respectively when measurement
The distance between operating personnel three times, by adaptive weight fusion estimated algorithm carries out the data that distance measuring sensor module acquires
Processing, the measurement distance after being calculated by the calculating and distribution of weight；
Step 4, when the actual measured value of distance measuring sensor module is less than the safe following distance of setting, main controller controls
Left servo motor and right servo motor stop operating；It is set when the actual measurement distance of the distance measuring sensor module of mobile platform is greater than
When the safe following distance set, the left servo motor of main controller controls and the operation of right servo motor；
Step 5, distance 1cm between each sensing point of magnetic navigation sensor, mobile platform pass through 16 bit digitals in the process of moving
The magnetism that the guiding magnetic stripe 2 that the detection of formula magnetic navigation sensor is laid on driving path generates, master controller pass through interrupt mode
Every 150ms acquires the offset of a magnetic navigation sensor, passes through the difference of sensing point output at left and right sides of magnetic navigation sensor
Position judges that mobile platform deviates the degree of driving path, and master controller is according to the change of the offset and offset of mobile platform
Rate control carries out PWM speed regulation to left and right servo motor and right servo motor, when guiding middle of the magnetic stripe in mobile platform,
Four output points conducting among magnetic navigation sensor, when the output point of magnetic navigation sensor moves to left, mobile platform center of gravity is biased to
Right ridge, master controller gives left servo motor and right servo motor to reduce and increase identical duty ratio respectively, to realize operation
The left-hand rotation of platform adjusts the speed；When the output point of magnetic navigation sensor moves to right, mobile platform center of gravity is biased to left ridge, and master controller is given respectively
Left servo motor and right servo motor increase and reduce identical duty ratio, to realize the right-hand rotation speed regulation of job platform, pass through
Constantly adjustment traveling pose realizes that mobile platform is walked along guide path.
2. a kind of greenhouse movable job platform collaboration according to claim 1 follows operation air navigation aid, it is characterised in that:
In step 3, the adaptive weight fusion estimated algorithm, specific calculating process is as follows:
Process one,The ranging mean values of 3 measurements are carried out for ultrasonic sensor,For the ranging of ultrasonic distance-measuring sensor
Variance, calculation formula are as follows
Process two,The ranging mean values of 3 measurements are carried out for infrared sensor,For the ranging variance of infrared sensor, calculate
Formula is as follows
The weighted factor of process three, ultrasonic sensor and fine outer sensor is respectively Wp、Wq, calculation formula is as follows
Process four passes through adaptive weighted fused ranging mean valueCalculation formula is as follows
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| CN107748365A (en) * | 2017-09-15 | 2018-03-02 | 南京轩世琪源软件科技有限公司 | A kind of real-time update indoor locating system based on ultrasonic ranging |
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| CN109739266A (en) * | 2018-12-03 | 2019-05-10 | 中国北方车辆研究所 | A kind of follow-up control method of the unmanned shipping platform in ground |
| CN111332386A (en) * | 2020-03-31 | 2020-06-26 | 平湖丞士机器人有限公司 | Self-following dual-purpose fire-fighting robot |
| CN111538336B (en) * | 2020-05-20 | 2023-11-21 | 西交利物浦大学 | Unmanned ship control system |
| CN111820822B (en) * | 2020-07-30 | 2022-03-08 | 广东睿住智能科技有限公司 | Sweeping robot, illuminating method thereof and computer readable storage medium |
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