农田信息采集机器人控制系统研究
|
摘要
随着精确农业技术的不断发展,农业机器人的研究和应用越来越受到世界各国的重视,并取得了丰硕的成果。相继出现了多种农业机器人,如农产品收摘机器人、农产品分级机器人、除草机器人、施肥施药机器人等。
本文研制的农田信息采集机器人工作于遥控操作模式下,操作人员通过高端控制台导航软件远程控制机器人的动作,实现对机器人的遥控导航和信息采集。并通过农田信息管理分析软件对采集的信息进行有效的管理和利用,从而实现对农业生产过程的指导。
本文在结合农田环境的特殊性的基础上,简单描述了机器人车体机械部分的运动过程。详细阐述了机器人的控制系统的设计。控制系统硬件由机器人控制电路板、射频收发装置电路板以及基于无线局域网的视觉系统构成。控制系统软件部分包括高端控制台导航软件和农田信息管理分析软件。
采用高速的在片系统型微控制器C8051F340作为机器人的大脑,控制机器人各部件协同工作;设计了光电转速检测与控制电路,实现对机器人直流行走电机的闭环控制;设计了车体平衡检测与调节电路以实现对机器人车体平衡调节步进电机的闭环控制;设计了功率驱动电路对直流行走电机进行PWM调压调速,并辅以PID算法程序实现对机器人车体的运动控制。
射频收发装置采用MCS-51单片机作为主控制器,并设计了基于芯片FT245的USB接口电路实现与高端控制台的数据通讯。
农田信息管理分析软件嵌入了Surfer等值线绘图软件的相关技术,完成了农田信息图层的绘制。
制作了农田信息采集机器人车体的室内机械模型,并建立了试验系统,通过高端控制台导航软件、射频收发装置、机器人车体控制电路,远程实现对机器人车体运动的精确控制。试验表明,农田信息采集机器人运行平稳、控制精确、实时性好。该移动平台具有很强的扩展性,可根据不同应用配备不同装备,以实现不同目的。
With the increasing development of Precision Agriculture technology, the studies and applications of agricultural robots, in the world, have got more emphasis from many countries with plenty of results and examples. As a result, many kinds of agricultural robots, such as agricultural products harvesting robots, agricultural products classifying robots, weeding robots, fertilizing robots etc., have been produced.
In this paper, a farmland information collecting robot is developed, which works in the tele-operating mode. Operators can telecontrol the robot to navigate and collect information by operating a human-machine interface of the High-end Console Navigating Software. By effectively managing and utilizing the information collected by the Farmland Information Analyzing Software, operators can achieve the instruction of agricultural production.
First of all, in view of the special feature of farmland environment, the paper simply analyses the movements of the mechanical parts of the robot, then the design of the robot control system is elaborately depicted. The hardware of the robot control system includes the mainboard of robot, a RF Transceiver and a visual system based wireless LAN. The software of the robot control system is made of the High-end Console Navigating Software and the Farmland Information Analyzing Software.
C8051F340, a kind of high-speed MCU with On-chip system, was adopted as the CPU of the robot to control all parts to work together; The electro-optical rotational speed detecting and controlling circuit was designed to realize closed-loop controlling driving motors of the robot;To keep the robot balance,the balanced detecting and regulating circuit was designed to closed-loop controlling step motors;The PWM principle and PID arithmetic were used to control the robot’s moving.
To test the feasibility of the design, we made an indoor mechanical model of the robot and established a test system. Through operating the High-end Console Navigating Software, RF Transceiver and the Robot Control Circuit, we can remotely realize the precise control of the robot movements. The experiments have shown that the Farmland Information Collecting Robot could run smoothly, be controlled precisely,and besides, has a good real-time nature. As a mobile platform, it is also highly extensible and on various occasions can be equipped with many different devices to achieve different purposes.
本文研制的农田信息采集机器人工作于遥控操作模式下,操作人员通过高端控制台导航软件远程控制机器人的动作,实现对机器人的遥控导航和信息采集。并通过农田信息管理分析软件对采集的信息进行有效的管理和利用,从而实现对农业生产过程的指导。
本文在结合农田环境的特殊性的基础上,简单描述了机器人车体机械部分的运动过程。详细阐述了机器人的控制系统的设计。控制系统硬件由机器人控制电路板、射频收发装置电路板以及基于无线局域网的视觉系统构成。控制系统软件部分包括高端控制台导航软件和农田信息管理分析软件。
采用高速的在片系统型微控制器C8051F340作为机器人的大脑,控制机器人各部件协同工作;设计了光电转速检测与控制电路,实现对机器人直流行走电机的闭环控制;设计了车体平衡检测与调节电路以实现对机器人车体平衡调节步进电机的闭环控制;设计了功率驱动电路对直流行走电机进行PWM调压调速,并辅以PID算法程序实现对机器人车体的运动控制。
射频收发装置采用MCS-51单片机作为主控制器,并设计了基于芯片FT245的USB接口电路实现与高端控制台的数据通讯。
农田信息管理分析软件嵌入了Surfer等值线绘图软件的相关技术,完成了农田信息图层的绘制。
制作了农田信息采集机器人车体的室内机械模型,并建立了试验系统,通过高端控制台导航软件、射频收发装置、机器人车体控制电路,远程实现对机器人车体运动的精确控制。试验表明,农田信息采集机器人运行平稳、控制精确、实时性好。该移动平台具有很强的扩展性,可根据不同应用配备不同装备,以实现不同目的。
With the increasing development of Precision Agriculture technology, the studies and applications of agricultural robots, in the world, have got more emphasis from many countries with plenty of results and examples. As a result, many kinds of agricultural robots, such as agricultural products harvesting robots, agricultural products classifying robots, weeding robots, fertilizing robots etc., have been produced.
In this paper, a farmland information collecting robot is developed, which works in the tele-operating mode. Operators can telecontrol the robot to navigate and collect information by operating a human-machine interface of the High-end Console Navigating Software. By effectively managing and utilizing the information collected by the Farmland Information Analyzing Software, operators can achieve the instruction of agricultural production.
First of all, in view of the special feature of farmland environment, the paper simply analyses the movements of the mechanical parts of the robot, then the design of the robot control system is elaborately depicted. The hardware of the robot control system includes the mainboard of robot, a RF Transceiver and a visual system based wireless LAN. The software of the robot control system is made of the High-end Console Navigating Software and the Farmland Information Analyzing Software.
C8051F340, a kind of high-speed MCU with On-chip system, was adopted as the CPU of the robot to control all parts to work together; The electro-optical rotational speed detecting and controlling circuit was designed to realize closed-loop controlling driving motors of the robot;To keep the robot balance,the balanced detecting and regulating circuit was designed to closed-loop controlling step motors;The PWM principle and PID arithmetic were used to control the robot’s moving.
To test the feasibility of the design, we made an indoor mechanical model of the robot and established a test system. Through operating the High-end Console Navigating Software, RF Transceiver and the Robot Control Circuit, we can remotely realize the precise control of the robot movements. The experiments have shown that the Farmland Information Collecting Robot could run smoothly, be controlled precisely,and besides, has a good real-time nature. As a mobile platform, it is also highly extensible and on various occasions can be equipped with many different devices to achieve different purposes.
引文
[1] 田素梅.国内外农业机器人的研究进展[J].农业机械化与电气化, 2007,2:3- 5
[2] E.J.VanHenten,B.A.J.VanTuijl,J.Hemming etc.. Field Test of an Autonomous Cucumber Picking Robot,Biosystems Engineering (2003)86(3),305-313.
[3] M.Monta, N.Kondo and K.C.Ting. End-Effectors for Tomato Harvesting Robot. Artificial Intelligence Review, 1998,12:11-25.
[4] 刘禾.苹果自动分级中的图像分割[J].中国农业大学学报,1996, 1 (6 ): 89-93
[5] 陈勇,田磊,郑加强等.基于直接施药方法的除草机器人[J].农业机械学报,2005,36(10):91-94
[6] 李军.农业信息技术[M].科学技术出版社,2006.
[7] 罗锡文.精细农业中农情信息采集技术的研究进展[J].农业工程学报,2006,22(1): 167-173.
[8] J.Billingsley, M.Schoenfish. The successful development of vision guidance system for agriculture. Computers and Electronics in Agriculture, 1997, 16: 147-163
[9] Laurent A.Nguyen, Maria Bualat, Laurence J.Edwards.Virtual Realliy lnterfaces for Visualization and Conrtol of Remote Vehicles.Autonomous Robots.2001(11):59·68
[10] Liu J T , Sun L , Chen T , et al . Research on competitive teleoperating robot system [J] . Robot , 2005 , 27 (1) : 68 -72.
[11] Elhajj I ,Xi N. Tele coordinated control of multi-robot systems via the Internet [ A ] . I EEE International Conf erence on Robotics & A utomation[C] . Taipei , 2003. 1646 - 1652.
[12] SANO A , FUJ IMOTO H , TANAKA M. Gain - scheduled compensation for time delay of bilateral teleoperation systems[A] . Proceedings of IEEE Int Conf on Robotics and Automation[C] ,Leuven , Belgium,1998. 1916 - 1923.
[13] 司马杭仁.世界空间探测器大观[ J ].太空探索,2007,05:44-47.
[14] 柯江华.深海探测机器人[ J ]. 科学,2003,8:14-15.
[15] 李穗平.军用机器人的发展及其应用[ J ].计算机与自动化技术,33(5):64-66.
[16] Kaffka, S., D. Kirby, and G. Peterson. Reducing Fertilizer in Sugarbeets Can Protect Water Quality. California Agriculture,2001,55(3): 42-47. http://www.eomonline.com/modernagsite/archives/Corbley.html.
[17] Kevin Corbley . Red River Growers Turn to Satellite to Manage Nitrogen. Modern Agriculture: The Journal for Site-Specific Crop Management,1999.
[18] S.Daberkow,W.Mcbride,M.Ali. Implication of Remote Sensing Imagery and Crop Rotation for Nitrogen Management in Sugar Beet Production[EB/OL]. http://ageconsearch.umn.edu/bitstream/123456789/13776/1/sp03da01.pdf, 2003-6
[19] 李敏,帅艳民,刘素红等. 中巴资源一号 02 星土地覆被多阶段信息提取.遥感信息,2006,1:34-39.
[20] 汤松龄. 无线局域网技术[J].电子技术, 2006,02:30-33.
[21] 王卫东. 无线局域网综述[J].电脑知识与技术, 2005,05:40-42.
[22] 罗闻泉. 无线局域网技术与标准研究[J].计算机与网络, 2005,16:40-42.
[23] 刘建华,孙山林, 李燕. 无线局域网接入技术介绍[J]. 福建电脑, 2004,02:8-9.
[24] Gary R.Wright,W.Richard Stevens. TCP/IP Illustrated,Volume2 The Implementation[M].机械工业出版社,2002.
[25] KennethD.Reed. TCP/IP 基础[M].电子工业出版社,2004.
[26] 史波, 田凯. 通用串行总线 USB 技术概述[J]. 信息技术, 2001,(04).
[27] 侯方勇,戴葵. 计算机射频通信系统的设计与实现[J]. 计算机应用研究 , 2002,(12) :105-107.
[28] FT245BM - Single chip bi-directional USB to Parallel FIFO datasheet at http://www.ftdichip.com .
[29] 徐锋.基于 FT245BM 的快速 USB 接口设计[J].电子工程师, 2007,33(3):59-61.
[30] 唐友怀,姚亚平.Cygnal 在片系统单片机的特点与应用[J].现代电子技术, 2003,8:86-88
[31] 刘晓凯.基于 C8051F 单片机直流电动机反馈控制系统的设计与研究[J]. 河北工业大学, 2005,12:72-76.
[32] 王晓明.电动机的单片机控制[M],北京航空航天大学出版社,2007.
[33] 任小坤, 孙淑凤, 王立. 基于单片机的直流电机控制系统在动态送风装置中的应用[J]. 制冷与空调 , 2007,7(1):85-88
[34] 马俊.单片机系统直流电机速度闭环控制实验[J],青海大学学报,2004,22(1):46-48
[35] 罗萍, 黄怀蓉. 经济通用的数字 M/T 法测速系统[J]. 电气传动自动化 , 1999,21(02):60-62
[36] 杜家熙.基于单片机的步进电机控制器设计[J].煤矿机械,2007,28(2):88-91
[37] 刘鑫,葛宝明.基于单片机的双步进电机协调运动控制器设计[J].电气应用,2007,26(3):65-69
[38] Sutart B. The Past of PID controllers.Annual Reviews in Contro1.25:43-53.
[39] Ang K H,Chong G, li Yun.PID control system analysis,design,and technology.IEEE Transaction on Conrtol Sysetms Technology,2005,13(4):599-576.
[40] G.W. Lucas. Using a PID-based Technique For Competitive Odometry and Dead-Reckoning[EB/OL]. http://www.seattlerobotics.org/encoder/200108/using_a_pid.html.2001.
[41] Blas M. Vinagre, Concepción A. and Monje etc..Fractional PID Controllers for Industry Application. A Brief Introduction. Journal of Vibration and Control,2007,7(13):1419 - 1429.
[42] Joono Cheong, Seungjin Lee. Linear PID Composite Controller and its Tuning for Flexible Link Robots. Journal of Vibration and Control, 2008,3(14):291 - 318.
[43] 罗智中.一种新的直流电动机 PID 控制器设计方法[J].机床与液压,2004,2:71-74
[44] 汪晓平,钟军. VisualC++网络通信协议分析与应用实现[M].北京人民邮电出版社,2003.
[45] 杨特. SQL Server 数据库安全规划策略[J]. 办公自动化 , 2007,(04):36-38.
[46] 刘增军,向为,孙广富. 基于 ADO 的数据库开发技术研究[J]. 科学技术与工程 , 2007,7(05):747-752.
[47] Golden Software , Inc .. Surfer 7 . 0 Automation Reference [DB / OL] . http ://www.goldensoftware.com,2000.
[48] 张丽莉 . 综合利用 VB 与 Surfer 实 现 地 学 三 维 曲 面 的 动 态显 示 [J]. 计算机 工程 与应用,2003,14:139-141
[49] 于平.应用 ActiveX 技术实现 Surfer 自动绘制等值线图[J].广东气象,2006,03:61-63
[50] 何瀚原.利用 Surfer 软件绘制山西区域气象要素图.科技情报开发与经济,2007,17(4):234-235
[51] 尼建军 张学宏.Surfer7.0 嵌入 VB 6.0 编程实现水文数据快速可视化.海洋测绘-200,25(1):64-66
[52] 冉永正,王香萍.Suffer 8.0 软件制作农业专题图流程[J].农业网络信息,2007,1:101-103
[53] 林伙海,吴陈锋.基于 surfer8.0 实现雨量图形可视化[J].气象,2006,32(7):115-118
[54] Olson, K. and P. Elisabeth. An Economic Assessment of the Whole-farm Impact of Precision Agriculture. Proceedings of the 6th International Conference on Precision Agriculture[C]. Minneapolis, MN, 2002-7.
[2] E.J.VanHenten,B.A.J.VanTuijl,J.Hemming etc.. Field Test of an Autonomous Cucumber Picking Robot,Biosystems Engineering (2003)86(3),305-313.
[3] M.Monta, N.Kondo and K.C.Ting. End-Effectors for Tomato Harvesting Robot. Artificial Intelligence Review, 1998,12:11-25.
[4] 刘禾.苹果自动分级中的图像分割[J].中国农业大学学报,1996, 1 (6 ): 89-93
[5] 陈勇,田磊,郑加强等.基于直接施药方法的除草机器人[J].农业机械学报,2005,36(10):91-94
[6] 李军.农业信息技术[M].科学技术出版社,2006.
[7] 罗锡文.精细农业中农情信息采集技术的研究进展[J].农业工程学报,2006,22(1): 167-173.
[8] J.Billingsley, M.Schoenfish. The successful development of vision guidance system for agriculture. Computers and Electronics in Agriculture, 1997, 16: 147-163
[9] Laurent A.Nguyen, Maria Bualat, Laurence J.Edwards.Virtual Realliy lnterfaces for Visualization and Conrtol of Remote Vehicles.Autonomous Robots.2001(11):59·68
[10] Liu J T , Sun L , Chen T , et al . Research on competitive teleoperating robot system [J] . Robot , 2005 , 27 (1) : 68 -72.
[11] Elhajj I ,Xi N. Tele coordinated control of multi-robot systems via the Internet [ A ] . I EEE International Conf erence on Robotics & A utomation[C] . Taipei , 2003. 1646 - 1652.
[12] SANO A , FUJ IMOTO H , TANAKA M. Gain - scheduled compensation for time delay of bilateral teleoperation systems[A] . Proceedings of IEEE Int Conf on Robotics and Automation[C] ,Leuven , Belgium,1998. 1916 - 1923.
[13] 司马杭仁.世界空间探测器大观[ J ].太空探索,2007,05:44-47.
[14] 柯江华.深海探测机器人[ J ]. 科学,2003,8:14-15.
[15] 李穗平.军用机器人的发展及其应用[ J ].计算机与自动化技术,33(5):64-66.
[16] Kaffka, S., D. Kirby, and G. Peterson. Reducing Fertilizer in Sugarbeets Can Protect Water Quality. California Agriculture,2001,55(3): 42-47. http://www.eomonline.com/modernagsite/archives/Corbley.html.
[17] Kevin Corbley . Red River Growers Turn to Satellite to Manage Nitrogen. Modern Agriculture: The Journal for Site-Specific Crop Management,1999.
[18] S.Daberkow,W.Mcbride,M.Ali. Implication of Remote Sensing Imagery and Crop Rotation for Nitrogen Management in Sugar Beet Production[EB/OL]. http://ageconsearch.umn.edu/bitstream/123456789/13776/1/sp03da01.pdf, 2003-6
[19] 李敏,帅艳民,刘素红等. 中巴资源一号 02 星土地覆被多阶段信息提取.遥感信息,2006,1:34-39.
[20] 汤松龄. 无线局域网技术[J].电子技术, 2006,02:30-33.
[21] 王卫东. 无线局域网综述[J].电脑知识与技术, 2005,05:40-42.
[22] 罗闻泉. 无线局域网技术与标准研究[J].计算机与网络, 2005,16:40-42.
[23] 刘建华,孙山林, 李燕. 无线局域网接入技术介绍[J]. 福建电脑, 2004,02:8-9.
[24] Gary R.Wright,W.Richard Stevens. TCP/IP Illustrated,Volume2 The Implementation[M].机械工业出版社,2002.
[25] KennethD.Reed. TCP/IP 基础[M].电子工业出版社,2004.
[26] 史波, 田凯. 通用串行总线 USB 技术概述[J]. 信息技术, 2001,(04).
[27] 侯方勇,戴葵. 计算机射频通信系统的设计与实现[J]. 计算机应用研究 , 2002,(12) :105-107.
[28] FT245BM - Single chip bi-directional USB to Parallel FIFO datasheet at http://www.ftdichip.com .
[29] 徐锋.基于 FT245BM 的快速 USB 接口设计[J].电子工程师, 2007,33(3):59-61.
[30] 唐友怀,姚亚平.Cygnal 在片系统单片机的特点与应用[J].现代电子技术, 2003,8:86-88
[31] 刘晓凯.基于 C8051F 单片机直流电动机反馈控制系统的设计与研究[J]. 河北工业大学, 2005,12:72-76.
[32] 王晓明.电动机的单片机控制[M],北京航空航天大学出版社,2007.
[33] 任小坤, 孙淑凤, 王立. 基于单片机的直流电机控制系统在动态送风装置中的应用[J]. 制冷与空调 , 2007,7(1):85-88
[34] 马俊.单片机系统直流电机速度闭环控制实验[J],青海大学学报,2004,22(1):46-48
[35] 罗萍, 黄怀蓉. 经济通用的数字 M/T 法测速系统[J]. 电气传动自动化 , 1999,21(02):60-62
[36] 杜家熙.基于单片机的步进电机控制器设计[J].煤矿机械,2007,28(2):88-91
[37] 刘鑫,葛宝明.基于单片机的双步进电机协调运动控制器设计[J].电气应用,2007,26(3):65-69
[38] Sutart B. The Past of PID controllers.Annual Reviews in Contro1.25:43-53.
[39] Ang K H,Chong G, li Yun.PID control system analysis,design,and technology.IEEE Transaction on Conrtol Sysetms Technology,2005,13(4):599-576.
[40] G.W. Lucas. Using a PID-based Technique For Competitive Odometry and Dead-Reckoning[EB/OL]. http://www.seattlerobotics.org/encoder/200108/using_a_pid.html.2001.
[41] Blas M. Vinagre, Concepción A. and Monje etc..Fractional PID Controllers for Industry Application. A Brief Introduction. Journal of Vibration and Control,2007,7(13):1419 - 1429.
[42] Joono Cheong, Seungjin Lee. Linear PID Composite Controller and its Tuning for Flexible Link Robots. Journal of Vibration and Control, 2008,3(14):291 - 318.
[43] 罗智中.一种新的直流电动机 PID 控制器设计方法[J].机床与液压,2004,2:71-74
[44] 汪晓平,钟军. VisualC++网络通信协议分析与应用实现[M].北京人民邮电出版社,2003.
[45] 杨特. SQL Server 数据库安全规划策略[J]. 办公自动化 , 2007,(04):36-38.
[46] 刘增军,向为,孙广富. 基于 ADO 的数据库开发技术研究[J]. 科学技术与工程 , 2007,7(05):747-752.
[47] Golden Software , Inc .. Surfer 7 . 0 Automation Reference [DB / OL] . http ://www.goldensoftware.com,2000.
[48] 张丽莉 . 综合利用 VB 与 Surfer 实 现 地 学 三 维 曲 面 的 动 态显 示 [J]. 计算机 工程 与应用,2003,14:139-141
[49] 于平.应用 ActiveX 技术实现 Surfer 自动绘制等值线图[J].广东气象,2006,03:61-63
[50] 何瀚原.利用 Surfer 软件绘制山西区域气象要素图.科技情报开发与经济,2007,17(4):234-235
[51] 尼建军 张学宏.Surfer7.0 嵌入 VB 6.0 编程实现水文数据快速可视化.海洋测绘-200,25(1):64-66
[52] 冉永正,王香萍.Suffer 8.0 软件制作农业专题图流程[J].农业网络信息,2007,1:101-103
[53] 林伙海,吴陈锋.基于 surfer8.0 实现雨量图形可视化[J].气象,2006,32(7):115-118
[54] Olson, K. and P. Elisabeth. An Economic Assessment of the Whole-farm Impact of Precision Agriculture. Proceedings of the 6th International Conference on Precision Agriculture[C]. Minneapolis, MN, 2002-7.
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |