CN112130580A - Orchard robot attitude monitoring system visualization method based on LabVIEW - Google Patents
Orchard robot attitude monitoring system visualization method based on LabVIEW Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 31
- 238000007794 visualization technique Methods 0.000 title claims abstract description 17
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- 238000013461 design Methods 0.000 claims abstract description 15
- 230000036544 posture Effects 0.000 claims description 48
- 238000000034 method Methods 0.000 claims description 17
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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
- G05D1/08—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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Abstract
The invention discloses a visualization method of an orchard robot attitude monitoring system based on LabVIEW, which comprises the following steps: 1. after the power supply system supplies power to the crawler type orchard robot, a sensor is arranged to acquire attitude data of the orchard robot and transmit the attitude data to the single chip microcomputer; 2. the acquired data is processed by the data acquisition module and is transmitted to the PC through the serial port communication unit in a TTL mode; 3. the PC receives the data and transmits the data to a robot posture monitoring software system positioned on an upper computer through a routing module; 4. the received data is processed by an orchard robot attitude monitoring system based on LabVIEW; 5. an operator can adjust the posture of the orchard robot through the LabVIEW platform, and the PC transmits the adjustment data to the singlechip through the routing module and the PC; 6. and the control unit and the serial port communication unit in the singlechip control the orchard robot. The invention adopts LabVIEW platform design, not only can monitor the posture of the orchard robot in real time, but also more importantly, the threshold is reduced, and the invention is beneficial to the use and design of more people.
Description
Technical Field
The invention relates to the field of agricultural robots, and particularly provides a visual method of an orchard robot posture monitoring system based on LabVIEW.
Background
At present, most robots are used in the industrial field for posture monitoring and adjustment, and the robots in the agricultural field are used in a small amount for posture monitoring and adjustment. In addition, most of the robot posture monitoring and adjusting in the industrial field adopt C, VB and other languages to design a posture monitoring system, the design process is complex and easy to make mistakes, the design threshold is high, and the robot posture monitoring system is not friendly to users, namely the robot posture monitoring system designed by C or VB and other languages is not friendly to operators using the system; therefore, the orchard robot posture monitoring system visualization method based on LabVIEW is adopted, the design process of the LabVIEW platform is simple and easy to understand, errors are not prone to occurring, and the design threshold is low; and for the operator using the visual method of the orchard robot posture monitoring system, the user interface is friendly and easy to operate, and the method has great significance for popularization.
Disclosure of Invention
The invention is provided in view of the above problems, and the invention aims to monitor the posture of the orchard robot in real time, and provides a visual method of the orchard robot posture monitoring system based on LabVIEW, which monitors and adjusts and controls the posture of the orchard robot in real time through the program design of a LabVIEW platform.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the orchard robot posture monitoring system visualization method based on LabVIEW is characterized by comprising a lower computer design method and an upper computer design method, wherein the lower computer design method comprises the following steps:
and 6, a control unit (33) and a serial port communication unit (32) in the single chip microcomputer (3) make corresponding actions and postures according to instructions of the single chip microcomputer (3), such as a rolling angle, a deflection angle and a speed of the orchard robot, a pitch angle and a deflection angle of the camera (21) and the like.
Further, the power supply system (1) in the step 1 adopts a battery to directly supply power, so that the orchard robot can drive in a wider range.
Further, in the tracked robot driven by the motor (7) in the step 1, a motor (7) driving chip of the tracked robot adopts BTS7960, and the tracked robot has the advantages of large driving current, simple driving mode and convenience in circuit construction.
Furthermore, in the step 1, the data acquisition module (2) module not only needs to acquire orchard data information, but also needs to adopt vehicle running data to transmit the data back to the upper computer. Therefore, accuracy and stability as a sensor are particularly important.
Further, since the orchard robot can encounter many obstacles in the using process, an obstacle avoidance module is designed by using the camera (21) and the ultrasonic sensor (22) in the step 1. The ultrasonic sensor (22) adopts HC SR04, and has the characteristics of high precision, small volume and convenient use. The non-contact distance can provide a sensing range of 20-400 cm, and the distance measurement precision reaches 3 cm.
Further, the angle sensor (23) in the step 1 uses an MMA7260 sensor chip. Its advantages are small size, high sensitivity and monitoring the acceleration of X, Y and Z axes. The voltage values of the output shafts of different angles are different, so that the angle corresponding to the vehicle body can be determined according to the different voltage values.
Further, the MPU6050 sensor (24) in the step 1 integrates two attitude sensors, namely an accelerometer and a gyroscope, so that the time sequence can be more uniform; the system is a six-axis sensor micro system, contains a digital motion processor, can directly read out a quaternion attitude expression and detects the three-axis acceleration and the three-axis angular velocity of the orchard robot in real time. Therefore, an MPU6050 sensor (24) is selected as an executing device for acquiring the attitude data.
Furthermore, the single chip microcomputer (3) in the step 1 adopts an STC12C5A60S2 single chip microcomputer as a control core, and the control chip has rich internal resources, high operation speed and strong anti-electromagnetic interference capability. The system has low power consumption and high cost performance, and is suitable for being used as a development platform of the system.
Further, in the step 2, the data acquisition module (2) completes the sensor cycle acquisition work.
Further, in the step 2, the serial port communication unit (32) controls the single chip microcomputer (3) and the router to establish communication through a TTL serial port.
Further, the wireless Wi-Fi communication module of the routing module (8) in the step 3 is modified by the router DB120 WG. The routing has stable performance and wide transmission range and supports OpenWrt. OpenWrt is a Linux-based open source routing firmware that provides a fully writable file system and software package management. In order to meet the design requirements of the system, the firmware of the route is upgraded, and the firmware of the ser2net and the MJPEG Streamer is refreshed. The Ser2net can convert control data received by the Wi-Fi module from an upper computer into serial data and transmit the serial data to the single chip microcomputer (3), and then corresponding control operation is achieved. The MJPEG Streamer firmware can access the Linux system in an HTTP mode, so that video information collected by the camera (21) can be transmitted to an upper computer for display through a TCP/IP network protocol.
Further, the robot posture monitoring software system (5) in the step 4 comprises a login interface, a communication module, a visual three-dimensional display interface, a posture control interface, an alarm interface and a data visual interface.
Further, in the step 6, the control unit (33) controls the motor (7), the steering engine and the car light to realize speed regulation of the motor (7), rotation of the steering engine and on-off control of the car light.
The method has the positive improvement effects that:
1) by adopting the visualization method of the robot posture monitoring software system, the LabVIEW platform is used for compiling programs by adopting the graphical editing language G, the posture and the advancing condition of the orchard robot are monitored and controlled in real time, the visualization method is popular and easy to understand, the moving path and the action process of the robot can be visually displayed, and convenience is provided for operating and using personnel;
2) the method for carrying out robot programming control based on the graphic design mode has the advantages that the generated program is in a block diagram form and is popular and easy to understand, the efficiency can be effectively improved through a computer development interface, complicated special robot programming languages are replaced, the defect that field manual programming is needed is overcome, the method has good universality and normativity, and the application range of the robot is remarkably improved.
Drawings
Fig. 1 is a method schematic diagram of an embodiment of the visualization method of the orchard robot posture monitoring system based on LabVIEW of the invention;
fig. 2 is a schematic structural diagram of an embodiment of the visualization method of the orchard robot posture monitoring system based on LabVIEW of the invention;
FIG. 3 is a schematic structural diagram of a robot posture monitoring software system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an orchard robot posture monitoring system based on LabVIEW according to an embodiment of the invention.
Detailed Description
The technical approaches in the embodiments of the present invention will be readily apparent and fully understood from the following detailed description of the embodiments of the invention, taken in conjunction with the accompanying drawings, wherein like reference numerals designate like parts in the figures. The examples are intended to help the reader to understand the practice of the present invention, but do not limit the scope of the invention.
As shown in fig. 1 to 4, the visualization method of the orchard robot posture monitoring system based on LabVIEW comprises the following steps:
and 6, a control unit (33) and a serial port communication unit (32) in the single chip microcomputer (3) make corresponding actions and postures according to instructions of the single chip microcomputer (3), such as a rolling angle, a deflection angle and a speed of the orchard robot, a pitch angle and a deflection angle of the camera (21) and the like.
Further, the power supply system (1) in the step 1 adopts a battery to directly supply power, so that the orchard robot can drive in a wider range.
Further, in the tracked robot driven by the motor (7) in the step 1, a motor (7) driving chip of the tracked robot adopts BTS7960, and the tracked robot has the advantages of large driving current, simple driving mode and convenience in circuit construction.
Furthermore, in the step 1, the data acquisition module (2) module not only needs to acquire orchard data information, but also needs to adopt vehicle running data to transmit the data back to the upper computer. Therefore, accuracy and stability as a sensor are particularly important.
Further, since the orchard robot can encounter many obstacles in the using process, an obstacle avoidance module is designed by using the camera (21) and the ultrasonic sensor (22) in the step 1. The ultrasonic sensor (22) adopts HC SR04, and has the characteristics of high precision, small volume and convenient use. The non-contact distance can provide a sensing range of 20-400 cm, and the distance measurement precision reaches 3 cm.
Further, the angle sensor (23) in the step 1 uses an MMA7260 sensor chip. Its advantages are small size, high sensitivity and monitoring the acceleration of X, Y and Z axes. The voltage values of the output shafts of different angles are different, so that the angle corresponding to the vehicle body can be determined according to the different voltage values.
Further, the MPU6050 sensor (24) in the step 1 integrates two attitude sensors, namely an accelerometer and a gyroscope, so that the time sequence can be more uniform; the system is a six-axis sensor micro system, contains a digital motion processor, can directly read out a quaternion attitude expression and detects the three-axis acceleration and the three-axis angular velocity of the orchard robot in real time. Therefore, an MPU6050 sensor (24) is selected as an executing device for acquiring the attitude data.
Furthermore, the single chip microcomputer (3) in the step 1 adopts the STC12C5A60S2 single chip microcomputer (3) as a control core, and the control chip has rich internal resources, high operation speed and strong anti-electromagnetic interference capability. The system has low power consumption and high cost performance, and is suitable for being used as a development platform of the system.
Further, in the step 2, the data acquisition module (2) completes the sensor cycle acquisition work.
Further, in the step 2, the serial port communication unit (32) controls the single chip microcomputer (3) and the router to establish communication through a TTL serial port.
Further, the wireless Wi-Fi communication module of the routing module (8) in the step 3 is modified by the router DB120 WG. The routing has stable performance and wide transmission range and supports OpenWrt. OpenWrt is a Linux-based open source routing firmware that provides a fully writable file system and software package management. In order to meet the design requirements of the system, the firmware of the route is upgraded, and the firmware of the ser2net and the MJPEG Streamer is refreshed. The Ser2net can convert control data received by the Wi-Fi module from an upper computer into serial data and transmit the serial data to the single chip microcomputer (3), and then corresponding control operation is achieved. The MJPEG Streamer firmware can access the Linux system in an HTTP mode, so that video information collected by the camera (21) can be transmitted to an upper computer for display through a TCP/IP network protocol.
Further, the robot posture monitoring software system (5) in the step 4 comprises a login interface, a communication module, a visual three-dimensional display interface, a posture control interface, an alarm interface and a data visual interface.
Further, in the step 6, the control unit (33) controls the motor (7), the steering engine and the car light to realize speed regulation of the motor (7), rotation of the steering engine and on-off control of the car light.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (7)
1. The orchard robot posture monitoring system visualization method based on LabVIEW is characterized by comprising a lower computer design method and an upper computer design method, wherein the lower computer design method comprises the following steps:
step 1, after a power supply system (1) supplies power to an orchard robot, sensors of speed, acceleration, angular speed, angle and the like are arranged on a crawler-type orchard robot body driven by a motor (7) to acquire attitude data of the orchard robot and transmit the attitude data to a single chip microcomputer (3);
step 2, the acquired data is processed by a data acquisition module (2) of the singlechip (3) and transmitted to a PC (4) through a serial port communication unit (32) in a TTL (transistor-transistor logic) communication mode;
step 3, transmitting the data received by the PC (4) to a robot posture monitoring software system (5) positioned on an upper computer through a routing module (8), namely a Wi-Fi communication module;
step 4, the robot posture monitoring software system (5) positioned on the upper computer receives data collected by the lower computer, and the data are processed and visualized through the orchard robot posture monitoring system (6) based on LabVIEW;
step 5, an operator can adjust the posture of the orchard robot through a LabVIEW platform, and the PC (4) transmits the adjustment data to the lower computer single chip microcomputer (3) through the routing module (8) and the PC (4) in a TTL communication mode;
and 6, a control unit (33) and a serial port communication unit (32) in the single chip microcomputer (3) make corresponding actions and postures according to instructions of the single chip microcomputer (3), such as a rolling angle, a deflection angle and a speed of the orchard robot, a pitch angle and a deflection angle of the camera (21) and the like.
2. The visualization method of the LabVIEW-based orchard robot posture monitoring system according to claim 1, wherein the power supply system (1) in the step 1 adopts a battery to directly supply power so that the orchard robot can drive in a wider range; in the tracked robot driven by the motor (7) in the step 1, the motor (7) driving chip adopts BTS7960, and the tracked robot has the advantages of large driving current, simple driving mode and convenience in circuit construction.
3. The visualization method of the LabVIEW-based orchard robot posture monitoring system according to claim 1, wherein the data acquisition module (2) in the step 1 not only needs to acquire orchard data information, but also needs to adopt vehicle body operation data to transmit the data back to an upper computer; therefore, accuracy and stability as a sensor are particularly important; in the step 1, the camera (21) and the ultrasonic sensor (22) form an obstacle avoidance module, and the ultrasonic sensor (22) adopts HC SR04, which has the characteristics of high precision, small volume and convenient use; the MMA7260 sensor chip used for the angle sensor (23) in the step 1 has the advantages of small volume and high sensitivity, and can monitor acceleration values of X, Y and Z axes; the MPU6050 sensor (24) integrates two attitude sensors of an accelerometer and a gyroscope, and can be more uniform in time sequence; the system is a six-axis sensor micro system, contains a digital motion processor, can directly read out a quaternion attitude expression and detects the three-axis acceleration and the three-axis angular velocity of the orchard robot in real time.
4. The visualization method of the LabVIEW-based orchard robot posture monitoring system according to claim 1, wherein the single chip microcomputer (3) in the step 1 adopts an STC12C5A60S2 single chip microcomputer as a control core, and the control chip has rich internal resources, high operation speed and strong anti-electromagnetic interference capability; the system has low power consumption and high cost performance, and is suitable for being used as a development platform of the system.
5. The visualization method for the LabVIEW-based orchard robot posture monitoring system according to claim 1, wherein the data acquisition module (2) in the step 2 completes sensor cycle acquisition work; in the step 2, the serial port communication unit (32) controls the singlechip (3) and the router to establish communication through a TTL serial port; and in the step 6, the control unit (33) realizes the speed regulation of the motor (7), the rotation of the steering engine (7) and the on-off control of the car lamp (7) by controlling the motor (7), the steering engine and the car lamp.
6. The visualization method for LabVIEW-based orchard robot posture monitoring system according to claim 1, wherein the wireless Wi-Fi communication module of the routing module (8) in the step 3 is modified by a router DB120 WG; the routing has stable performance and wide transmission range and supports OpenWrt; OpenWrt is Linux-based open source routing firmware, and provides a fully writable file system and software package management; in order to meet the design requirement of the system, firmware upgrading is carried out on the route, and ser2net and MJPEG Streamer firmware are refreshed; the Ser2net can convert control data received by the Wi-Fi module from an upper computer into serial data and transmit the serial data to the single chip microcomputer (3), so that corresponding control operation is realized; the MJPEG Streamer firmware can access the Linux system in an HTTP mode, so that video information collected by the camera (21) can be transmitted to an upper computer for display through a TCP/IP network protocol.
7. The visualization method of LabVIEW-based orchard robot posture monitoring system according to claim 1, wherein the robot posture monitoring software system (5) in the step 4 comprises a login interface, a communication module, a visual three-dimensional display interface, a posture control interface, an alarm interface and a data visualization interface.
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| CN111230890A (en) * | 2018-11-28 | 2020-06-05 | 天津工业大学 | Airport runway detection robot |
| CN111331601A (en) * | 2020-03-11 | 2020-06-26 | 西京学院 | Novel six-foot rescue robot suitable for collapsed ruin scene |
-
2020
- 2020-11-22 CN CN202011316020.1A patent/CN112130580A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103823471A (en) * | 2014-03-13 | 2014-05-28 | 北京理工大学 | Vector-propelled small four-axis underwater robot control system |
| CN106323279A (en) * | 2016-08-16 | 2017-01-11 | 上海交通大学 | Moving object wireless posture monitoring system |
| CN111230890A (en) * | 2018-11-28 | 2020-06-05 | 天津工业大学 | Airport runway detection robot |
| CN109605370A (en) * | 2018-12-13 | 2019-04-12 | 珠海格力智能装备有限公司 | Control method and device, the control system of robot of robot |
| CN110757466A (en) * | 2019-11-26 | 2020-02-07 | 南京凌鸥创芯电子有限公司 | STM 32-based mine survey robot control system |
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